Configuration parameters and interfaces. More...
Configuration parameters and interfaces.
For an allocated Tango3DR_Config, these functions get and set parameters of that config. The parameters that are available are dependent on the type of configuration created.
You can use the handle to query the current state, or you can create a new handle and alter its contents to set settings. For each type of configuration parameter (bool, double, int32, etc) you call the corresponding get/set function, such as TangoConfig_getBool() for a boolean.
The supported configuration parameters that can be set for TANGO_3DR_CONFIG_RECONSTRUCTION are:
| boolean use_parallel_integration | When true, will use multi-threading for the reconstruction updates. Default is false. |
| double resolution | The reconstruction resolution in meters. Default is 0.03 |
| boolean generate_color | Whether the meshes should contain vertex colors. Default is true. |
| double min_depth | Minimum depth range for input to the reconstruction in meters. Default is 0.60. |
| double max_depth | Maximum depth range for input to the reconstruction in meters. Default is 3.50. |
| boolean use_space_clearing | When true, will clear away free space along the depth observations. Default is false. If enabled, 3D reconstruction will create higher quality meshes at a cost to performance. |
| matrix3x3 external_T_tango | Transformation matrix that is left-multiplied to any point generated. Defaults to the identity matrix. This is useful to convert meshes generated to a left-handed coordinate system or to some other coordinate system convention than Tango's. |
| boolean use_clockwise_winding_order | When true, faces will have a clockwise (CW) winding order (in contrast to counter-clockwise (CCW) winding order, which is the default). Note that this is done before applying external_T_tango, so it has the opposite result if external_T_tango switches handedness. |
| int32 max_voxel_weight | The maximum voxel weight for the integration filter. Defaults to 16383. Roughly corresponds to the number of observations. A higher value gives better geometric quality and stability; a lower value gives more responsiveness to dynamic objects. |
| int32 min_num_vertices | Minimum number of vertices that every connected component in the mesh should consist of. Defaults to 1. Smaller components (typically noise) will be deleted. |
| int64 dataset_start_time | Start time in ns. Defaults to 0. When reconstructing or texturing from a dataset, all messages with timestamps < dataset_start_time will be ignored. |
| int32_t update_method | Update method to be used when caling |
| boolean use_floorplan | When true, enable floor plan mode. Note that this switches the mesh to an stylized/extruded mesh of the floor plan. Default is false. |
| boolean use_floorplan_canonical_orientation | Rotate the floor plan so that most dominant direction is aligned with the x axis. Default is false. |
| double floorplan_max_error | Upper bound on geometric error in meters during polygon simplification. Set to zero to disable simplification. |
| bool rectify_color_image | When true, rectification will be applied to color images passed to the reconstruction context via the update functions. Default is true. |
The supported configuration parameters that can be set for TANGO_3DR_CONFIG_TEXTURING are:
| int32_t texturing_backend | Backend to use when performing mesh texturing. See |
| int32 mesh_simplification_factor | Reduce the number of vertices by this factor before generating the texture. Defaults to 3.0. |
| int32 texture_size | The texture size in pixels. Defaults to 2048. |
| double bevel | The bevel size in pixels. Defaults to 3.0. |
| double min_resolution | The minimum resolution in meters/pixels. Defaults to 0.0. This parameter may be overridden by max_num_textures if in conflict. |
| int32 max_num_textures | The maximum number of texture images to generate. Defaults to 0 (unlimited). This parameter overrides min_resolution if in conflict. |
| int32 downsample | Use only every n-th color image. Defaults to 1. |
| matrix4x4 external_T_tango | Transformation matrix that is left-multiplied to any point generated. Defaults to the identity matrix. This is useful to convert meshes generated to a left-handed coordinate system or to some other coordinate system convention than Tango's. |
| Tango3DR_Config Tango3DR_Config_create | ( | Tango3DR_ConfigType | config_type | ) |
Creates a Tango3DR_Config object with configuration settings. This should be used to initialize a Config object for setting the configuration that Tango 3D Reconstruction should be run in. The Config handle is passed to Tango3DR_ReconstructionContext_create() or Tango3DR_textureMeshFromDataset(). The handle is needed only at the time of the call where it is used and can safely be freed after it has been used in Tango3DR_ReconstructionContext_create() or Tango3DR_textureMeshFromDataset().
| config_type | The requested configuration type. |
| Tango3DR_Status Tango3DR_Config_destroy | ( | Tango3DR_Config | config | ) |
Free a Tango3DR_Config object.
Frees the Tango3DR_Config object for the handle specified by the config variable.
| Tango3DR_Status Tango3DR_Config_getBool | ( | const Tango3DR_Config | config, |
| const char * | key, | ||
| bool * | value | ||
| ) |
Get a boolean configuration parameter.
| config | The configuration object to get the parameter from. config must have been created with Tango3DR_Config_create(). |
| key | The string key value of the configuration parameter to get. |
| value | Upon success, set to the value for the configuration key. |
TANGO_3DR_SUCCESS on success or TANGO_3DR_INVALID if the any of the arguments is NULL, or if the key could not be found. | Tango3DR_Status Tango3DR_Config_getDouble | ( | const Tango3DR_Config | config, |
| const char * | key, | ||
| double * | value | ||
| ) |
Get a double configuration parameter.
| config | The configuration object to get the parameter from. config must have been created with Tango3DR_Config_create(). |
| key | The string key value of the configuration parameter to get. |
| value | Upon success, set to the value for the configuration key. |
TANGO_3DR_SUCCESS on success or TANGO_3DR_INVALID if the any of the arguments is NULL, or if the key could not be found. | Tango3DR_Status Tango3DR_Config_getInt32 | ( | const Tango3DR_Config | config, |
| const char * | key, | ||
| int32_t * | value | ||
| ) |
Get an int32 configuration parameter.
| config | The configuration object to get the parameter from. config must have been created with Tango3DR_Config_create(). |
| key | The string key value of the configuration parameter to get. |
| value | Upon success, set to the value for the configuration key. |
TANGO_3DR_SUCCESS on success or TANGO_3DR_INVALID if the any of the arguments is NULL, or if the key could not be found. | Tango3DR_Status Tango3DR_Config_getInt64 | ( | const Tango3DR_Config | config, |
| const char * | key, | ||
| int64_t * | value | ||
| ) |
Get an int64 configuration parameter.
| config | The configuration object to get the parameter from. config must have been created with Tango3DR_Config_create(). |
| key | The string key value of the configuration parameter to get. |
| value | Upon success, set to the value for the configuration key. |
TANGO_3DR_SUCCESS on success or TANGO_3DR_INVALID if the any of the arguments is NULL, or if the key could not be found. | Tango3DR_Status Tango3DR_Config_getMatrix3x3 | ( | Tango3DR_Config | config, |
| const char * | key, | ||
| Tango3DR_Matrix3x3 * | value | ||
| ) |
Get a matrix3x3 configuration parameter.
| config | The configuration object to get the parameter from. config must have been created with Tango3DR_Config_create(). |
| key | The string key value of the configuration parameter to get. |
| value | Upon success, set to the value for the configuration key. |
TANGO_3DR_SUCCESS on success or TANGO_3DR_INVALID if the any of the arguments is NULL, or if the key could not be found. | Tango3DR_Status Tango3DR_Config_setBool | ( | Tango3DR_Config | config, |
| const char * | key, | ||
| bool | value | ||
| ) |
Set a boolean configuration parameter.
| config | The configuration object to set the parameter on. config must have been created with Tango3DR_Config_create(). |
| key | The string key value of the configuration parameter to set. |
| value | The value to set the configuration key to. |
TANGO_3DR_SUCCESS on success or TANGO_3DR_INVALID if config or key is NULL, or key is not found or could not be set. | Tango3DR_Status Tango3DR_Config_setDouble | ( | Tango3DR_Config | config, |
| const char * | key, | ||
| double | value | ||
| ) |
Set a double configuration parameter.
| config | The configuration object to set the parameter on. config must have been created with Tango3DR_Config_create(). |
| key | The string key value of the configuration parameter to set. |
| value | The value to set the configuration key to. |
TANGO_3DR_SUCCESS on success or TANGO_3DR_INVALID if config or key is NULL, or key is not found or could not be set. | Tango3DR_Status Tango3DR_Config_setInt32 | ( | Tango3DR_Config | config, |
| const char * | key, | ||
| int32_t | value | ||
| ) |
Set an int32 configuration parameter.
| config | The configuration object to set the parameter on. config must have been created with Tango3DR_Config_create(). |
| key | The string key value of the configuration parameter to set. |
| value | The value to set the configuration key to. |
TANGO_3DR_SUCCESS on success or TANGO_3DR_INVALID if config or key is NULL, or key is not found or could not be set. | Tango3DR_Status Tango3DR_Config_setInt64 | ( | Tango3DR_Config | config, |
| const char * | key, | ||
| int64_t | value | ||
| ) |
Set an int64 configuration parameter.
| config | The configuration object to set the parameter on. config must have been created with Tango3DR_Config_create(). |
| key | The string key value of the configuration parameter to set. |
| value | The value to set the configuration key to. |
TANGO_3DR_SUCCESS on success or TANGO_3DR_INVALID if config or key is NULL, or key is not found or could not be set. | Tango3DR_Status Tango3DR_Config_setMatrix3x3 | ( | Tango3DR_Config | config, |
| const char * | key, | ||
| const Tango3DR_Matrix3x3 * | value | ||
| ) |
Set a matrix3x3 configuration parameter.
| config | The configuration object to set the parameter on. config must have been created with Tango3DR_Config_create(). |
| key | The string key value of the configuration parameter to set. |
| value | The value to set the configuration key to. |
TANGO_3DR_SUCCESS on success or TANGO_3DR_INVALID if config or key is NULL, or key is not found or could not be set.