{

int originImgW, originImgH, originDepthW, originDepthH, imgW, imgH, scaleInitW, scaleInitH;

int patchWidth, patchStep, patchSize, frameStart, frameEnd;

double scaleFactor, alpha_u, alpha_v, lamda, patchRandomSearchTimes;

size_t scaleTimes;

std::vector<size_t> kfIndexs, scaleIters;

std::string resultsPathSurfix;

std::string allFramesPath, cameraTxtFile, camTrajNamePattern;

std::string keyFramesPath, kfCameraTxtFile, patchmatchBinFile, originResolution, plyFile;

std::string rgbNamePattern, dNamePattern, kfRGBNamePattern, kfDNamePattern, rgbNameExt, kfRGBMatch;

bool camTrajFromWorldToCam;

float cameraDFx, cameraDFy, cameraDCx, cameraDCy, cameraFx, cameraFy, cameraCx, cameraCy;

cv::Mat1f cameraK, cameraDK;

char depthType;

Settings()

{

// set the intrinsics of the RGB camera and the depth camera

{

// origin source img's resolution

originImgW = 1920;

originImgH = 1080;

// camera's data

cameraFx = 1081.37f;

cameraFy = 1081.37f;

cameraCx = 959.5f;

cameraCy = 539.5f;

// origin depth img's resolution

originDepthW = originImgW;

originDepthH = originImgH;

// depth camera's data

cameraDFx = cameraFx;

cameraDFy = cameraFy;

cameraDCx = cameraCx;

cameraDCy = cameraCy;

}

// set the file extension of RGB image (to store the rgb file in Results folder)

rgbNameExt = "jpg";

// set the depth data type

// f - float i - int s - ushort b - uchar

depthType = 'f';

// if you already have a ply file, than no need to set these variables to use PCL for getting a ply

// (more details can be found in main.cpp)

{

// all frames' path

allFramesPath = "/home/wsy/TextureRecover/Datas/bloster2_1";

// all frames' name pattern

rgbNamePattern = "%05d." + rgbNameExt;

dNamePattern = "%05d.png";

// frames' start and end

frameStart = 0;

frameEnd = 394;

// all frames' camera positions txt file after using PCL KF to get the ply (under the keyFramesPath folder)

// the format :

// id id id

// R(0,0) R(0,1) R(0,2) T(0)

// R(1,0) R(1,1) R(1,2) T(1)

// R(2,0) R(2,1) R(2,2) T(2)

// 0 0 0 1

cameraTxtFile = "traj.txt";

}

// keyframes' path (where the rgbd images are)

keyFramesPath = "/media/eagle/4670D70170D6F6A1/Datas/LAB/bloster/raw";

// keyframes' name pattern

kfRGBNamePattern = "color_%02d." + rgbNameExt;

kfRGBMatch = "color_*." + rgbNameExt;

// [optional] keyframes' depth name pattern, using depth images to do a check when remapping

kfDNamePattern = "depth_%02d.png";

// valid keyframes ( all are valid if empty)

kfIndexs = {0,1,3,4,5,11,12,13};

// necessary files under the keyFramesPath folder

{

// key frames' camera positions txt file after running getKeyFrames.cpp

// the format is same as the cameraTxtFile

kfCameraTxtFile = "kfTraj.txt";

// camera files' name pattern (if kfCameraTxtFile doesn't exist, then assume every image has its own camera file)

// in each file, all data is in one line with format "T(0) T(1) T(2) R(0,0) R(0,1) R(0,2) R(1,0) R(1,1) R(1,2) R(2,0) R(2,1) R(2,2)"

camTrajNamePattern = "color_%02d.cam";

// the ply file

plyFile = "mesh_1.ply";

}

// if the camera matrix is a projection from the world coord to camera coord, set this flag to true,

// otherwise, the data is from camera coord to world coord, and inv() will be called.

// if the cameraTxtFile and the plyFile are from PCL KF, then this should be false.

camTrajFromWorldToCam = true;

// surfix of the resultsPath to distinguish with different results under different params

resultsPathSurfix = "";

// scale

scaleTimes = 10;

scaleIters = {50, 45, 40, 35, 30, 25, 20, 15, 10, 5};

scaleInitH = originImgH / 4;

// the width and height of a patch

patchWidth = 7;

// the step of patchs when voting

patchStep = 1;

// the times of range when random searching in patchmatch

// searching window's width = patchRandomSearchTimes * sqrt(imgW * imgH)

patchRandomSearchTimes = 0.01;

// weight the similarity from Si to Ti

alpha_u = 1.0;

// weight the similarity from Ti to Si

alpha_v = 2.0;

// weight the consistency that how much M affects Ti

lamda = 5.0;

// -----------------

// custom

// -----------------

init_zhou_small();

// -----------------

// init

// -----------------

// scale

scaleInitW = static_cast<int>( std::round(originImgW * scaleInitH * 1.0 / originImgH) );

if ( scaleTimes > 1 )

scaleFactor = pow( originImgH * 1.0 / scaleInitH, 1.0 / (scaleTimes-1) );

else

scaleFactor = 1.0;

// camera's intrinsic matrix

// fx 0 cx

// [ 0 fy cy ]

// 0 0 1

cameraK = (cv::Mat_<float>(3,3) << cameraFx, 0, cameraCx, 0, cameraFy, cameraCy, 0, 0, 1);

cameraDK = (cv::Mat_<float>(3,3) << cameraDFx, 0, cameraDCx, 0, cameraDFy, cameraDCy, 0, 0, 1);

// patch's size

patchSize = patchWidth * patchWidth;

// img's resolution during the current scale

imgW = originImgW;

imgH = originImgH;

}

void init_zhou_small(){

originImgW = 640;

originImgH = 480;

cameraFx = 525.0f;

cameraFy = 525.0f;

cameraCx = 319.5f;

cameraCy = 239.5f;

// origin depth img's resolution

originDepthW = originImgW;

originDepthH = originImgH;

// depth camera's data

cameraDFx = cameraFx;

cameraDFy = cameraFy;

cameraDCx = cameraCx;

cameraDCy = cameraCy;

keyFramesPath = "../../datas";

rgbNameExt = "jpg";

kfRGBNamePattern = "%05d." + rgbNameExt;

kfRGBMatch = "*." + rgbNameExt;

kfDNamePattern = "%05d.png";

depthType = 's';

camTrajFromWorldToCam = false;

plyFile = "world.ply";

kfIndexs = {0,1,2,3,4,5,6,7,12,13,14,15,17,18,19,20,21};

resultsPathSurfix = "";

scaleTimes = 10;

scaleInitH = originImgH / 4;

lamda = 5;

}