3D Reconstruction Module

In this page will introduce the API and data you can use from 3D reconstruction module.

3D Reconstruction module API

int ViveSR::SRWork::RigidReconstruction::GetRigidReconstructionData(RigidReconstructionData *data)

Gets the RigidReconstructionData from SRWorks engine.

Return

Indicates the resulting ViveSR::Error status of this method.

Parameters

int ViveSR::SRWork::RigidReconstruction::SetReconstructionParameterBool(int parameter_name, bool param_value)

Sets the rigidReconstruction parameter boolean of module.

Return

Indicates the resulting ViveSR::Error status of this method.

Parameters

  • [in] parameter_name: ViveSR::SRWork::RigidReconstruction::Param

  • [in] param_value: The parameter input value.

int ViveSR::SRWork::RigidReconstruction::SetReconstructionParameterInt(int parameter_name, int param_value)

Sets the rigidReconstruction parameter integer of module.

Return

Indicates the resulting ViveSR::Error status of this method.

Parameters

  • [in] parameter_name: ViveSR::SRWork::RigidReconstruction::Param

  • [in] param_value: The parameter input value.

int ViveSR::SRWork::RigidReconstruction::SetReconstructionParameterFloat(int parameter_name, float param_value)

Sets the rigidReconstruction parameter float of module.

Return

Indicates the resulting ViveSR::Error status of this method.

Parameters

  • [in] parameter_name: ViveSR::SRWork::RigidReconstruction::Param

  • [in] param_value: The parameter input value.

int ViveSR::SRWork::RigidReconstruction::GetReconstructionParameterBool(int parameter_name, bool *param_value)

Get the rigidReconstruction parameter boolean from module.

Return

Indicates the resulting ViveSR::Error status of this method.

Parameters

  • [in] parameter_name: ViveSR::SRWork::RigidReconstruction::Param

  • [out] param_value: The parameter output value pointer.

int ViveSR::SRWork::RigidReconstruction::GetReconstructionParameterInt(int parameter_name, int *param_value)

Get the rigidReconstruction parameter integer from module.

Return

Indicates the resulting ViveSR::Error status of this method.

Parameters

  • [in] parameter_name: ViveSR::SRWork::RigidReconstruction::Param

  • [out] param_value: The parameter output value pointer.

int ViveSR::SRWork::RigidReconstruction::GetReconstructionParameterFloat(int parameter_name, float *param_value)

Get the rigidReconstruction parameter float from module.

Return

Indicates the resulting ViveSR::Error status of this method.

Parameters

  • [in] parameter_name: ViveSR::SRWork::RigidReconstruction::Param

  • [out] param_value: The parameter output value pointer.

int ViveSR::SRWork::RigidReconstruction::GetReconstructionParameterDouble(int parameter_name, double *param_value)

Get the rigidReconstruction parameter double from module.

Return

Indicates the resulting ViveSR::Error status of this method.

Parameters

  • [in] parameter_name: ViveSR::SRWork::RigidReconstruction::Param

  • [out] param_value: The parameter output value pointer.

int ViveSR::SRWork::RigidReconstruction::SetSceneUnderstandingConfig(SceneUnderstandingConfig value)

Set the scene understanding config which set maximum counts in one label object.

Return

Indicates the resulting ViveSR::Error status of this method.

Parameters

  • SceneUnderstandingConfig: ViveSR::SRWork::RigidReconstruction::SceneUnderstandingConfigId

int ViveSR::SRWork::RigidReconstruction::GetSceneUnderstandingConfig(SceneUnderstandingConfig *value)

Get the scene understanding config which set maximum counts in one label object.

Return

Indicates the resulting ViveSR::Error status of this method.

Parameters

  • SceneUnderstandingConfig: ViveSR::SRWork::RigidReconstruction::SceneUnderstandingConfigId

int ViveSR::SRWork::RigidReconstruction::SetReconstructionOutputFileName(char *parameter_name, int size)

Set the reconstruction output filename and export mesh.

Return

Indicates the resulting ViveSR::Error status of this method.

Parameters

  • [in] parameter_name: The array of file name.

  • [in] size: The file name length.

int ViveSR::SRWork::RigidReconstruction::SetSceneUnderstandingOutputFileName(char *parameter_name, int size)

Set the scene understanding output filename and export scene understanding object.

Return

Indicates the resulting ViveSR::Error status of this method.

Parameters

  • [in] parameter_name: The array of file name.

  • [in] size: The file name length.

int ViveSR::SRWork::RigidReconstruction::GetExportMeshProgress(int *value)

Get the reconstruction mesh export progress.

Return

Indicates the resulting ViveSR::Error status of this method.

Parameters

  • [out] value: The progress between 0 to 100.

int ViveSR::SRWork::RigidReconstruction::GetSceneUnderstandingProgress(int *value)

Get the scene understanding export progress.

Return

Indicates the resulting ViveSR::Error status of this method.

Parameters

  • [out] value: The progress between 0 to 100.

int ViveSR::SRWork::RigidReconstruction::SetReconstructionMaxFps(int max_fps)

Set the reconstruction maximum update interval of SRWorks engine.

Return

Indicates the resulting ViveSR::Error status of this method.

Parameters

  • [in] max_fps: The maximum fps want to set.

3D Reconstruction module data type

struct RigidReconstructionData

A struct containing rigidReconstruction data listed below.

Public Members

unsigned int frame_seq
float *posemtx44
int num_vertices
int bytepervert
float *vertices
int num_indices
int *indices
int cldtype
unsigned int collidernum
unsigned int *cld_num_verts
unsigned int *cld_numidx
float *cld_vertices
int *cld_indices
int sector_num
int *sector_id_list
int *sector_vert_num
int *sector_idx_num
int model_chunk_num
int model_chunk_idx

3D Reconstruction module enums type

enum ViveSR::RigidReconstruction::Param

An enum type for RigidReconstruction parameters.

Values:

GEO_VOXEL_SIZE = 0
COLOR_VOXEL_SIZE = 1
FOCAL_LENGTH = 8
POINTCLOUD_POINTSIZE = 9
EXPORT_ADAPTIVE_MODEL = 10
ADAPTIVE_MAX_GRID = 11
ADAPTIVE_MIN_GRID = 12
ADAPTIVE_ERROR_THRES = 13
SECTOR_SIZE = 15
SECTOR_NUM_PER_SIDE = 16
ENABLE_FRUSTUM_CULLING = 20
CONFIG_FILEPATH = 21
CONFIG_QUALITY
LITE_POINT_CLOUD_MODE = 32
FULL_POINT_CLOUD_MODE
LIVE_ADAPTIVE_MODE
MESH_REFRESH_INTERVAL = 37
ENABLE_SECTOR_GROUPING = 38
SCENE_UNDERSTANDING_ENABLE = 40
SCENE_UNDERSTANDING_MACHINE_VISION = 41
SCENE_UNDERSTANDING_CONFIG = 42
SCENE_UNDERSTANDING_REFINEMENT = 43
SEMANTIC_FUSION_ALL_AFTER_SCANNING = 44
EXPORT_MODEL_FOR_UNITY_PROGRESS = 50
EXPORT_SCENE_UNDERSTANDING_FOR_UNITY_PROGRESS = 51
enum ViveSR::RigidReconstruction::SceneUnderstandingObjectType

An enum type for scene understanding object type.

Values:

FLOOR = 0
WALL = 1
CEILING = 2
CHAIR = 3
TABLE = 4
BED = 5
MONITOR = 6
WINDOW = 7
FURNITURE = 8
DOOR = 9
PICTURE = 10
PERSON = 11
LIGHT = 12
PLANT = 13
CURTAIN = 14
PILLOW = 15
TOTAL = 16
enum ViveSR::RigidReconstruction::InputMask

An enum type for RigidReconstruction input data structure.

Values:

_LEFT_FRAME = 0
_DEPTH_MAP = 1
_FRAME_SEQ = 2
_TIME_STP = 3
_POSE = 4
_LUX_LEFT = 5
_COLOR_TEMPERATURE_LEFT = 6
_EXPOSURE_TIME_LEFT = 7
_ANALOG_GAIN_LEFT = 8
_DIGITAL_GAIN_LEFT = 9
_CAMERA_PARAMS = 10
INPUT_MASK_MAX
enum ViveSR::RigidReconstruction::OutputMask

An enum type for RigidReconstruction output data structure.

Values:

FRAME_SEQ = 0
POSEMTX44 = 1
NUM_VERTICES = 2
BYTEPERVERT = 3
VERTICES = 4
NUM_INDICES = 5
INDICES = 6
CLDTYPE = 7
COLLIDERNUM = 8
CLD_NUM_VERTS = 9
CLD_NUMIDX = 10
CLD_VERTICES = 11
CLD_INDICES = 12
SECTOR_NUM = 13
SECTOR_ID_LIST = 14
SECTOR_VERT_NUM = 15
SECTOR_IDX_NUM = 16
MODEL_CHUNK_NUM = 17
MODEL_CHUNK_IDX = 18
RECONSTRUCTION_STAGE = 19
RECONSTRUCTION_PERCENTAGE = 20
SCENE_UNDERSTANDING_STAGE = 21
SCENE_UNDERSTANDING_PERCENTAGE = 22
OUTPUT_MASK_MAX
enum ViveSR::RigidReconstruction::Cmd

An enum type for control signal to change RigidReconstruction module’s behavior.

Values:

START = 200
STOP = 201
SHOW_INFO = 202
EXTRACT_POINT_CLOUD = 203
EXTRACT_VERTEX_NORMAL = 204
EXPORT_MODEL_RIGHT_HAND = 205
EXPORT_MODEL_FOR_UNITY = 206
EXPORT_SCENE_UNDERSTANDING_RIGHT_HAND = 207
EXPORT_SCENE_UNDERSTANDING_FOR_UNITY = 208
MODEL_PREVIEW_START_RIGHT_HAND = 209
MODEL_PREVIEW_START_FOR_UNITY = 210
MODEL_PREVIEW_NEXT_CHUNK = 211
MODEL_PREVIEW_FINISH = 212
EXPORT_ROOT_FOLDER = 213
RESET_RECONSTRUCTION_ENGINE = 214
enum ViveSR::RigidReconstruction::ExportStage

An enum type for reconstruction module stage of export object.

Values:

EXTRACT_MODEL = 0x17
COMPACT_TEXTURE = 0x18
SAVE_MODEL = 0x19
EXTRACT_COLLIDER = 0x1A
SCENE_UNDERSTANDING_PASS_1 = 0x30
SCENE_UNDERSTANDING_PASS_2 = 0x31
enum ViveSR::RigidReconstruction::SceneUnderstandingConfigId

An enum type for scene understanding object config id.

Values:

Floor = 300
Wall
Ceiling
Chair
Table
Bed
Monitor
Window
Furniture
Door
Picture
Person
Light
Plant
Curtain
Pillow
MaxLabelId