example_reconstructmesdk_colorize.cpp

Content

This example shows vertex coloring of surfaces. It uses defaults everywhere and omits error handling.

Browse the result online.

Or view the making-of video

#include <boost/test/unit_test.hpp>
#include <stdio.h>

#include <reconstructmesdk/reme.h>
BOOST_AUTO_TEST_SUITE(example_reconstructmesdk)
BOOST_AUTO_TEST_CASE(colorize)
{
  // Create a new context
  reme_context_t c;
  reme_context_create(&c);

  // Create a license object
  reme_license_t l;
  reme_license_create(c, &l);
  reme_error_t e = reme_license_authenticate(c, l, "license.txt.sgn");

  // Create options
  reme_options_t o;
  reme_options_create(c, &o);

  // Create a new sensor.
  reme_sensor_t s;
  reme_sensor_create(c, "openni;mskinect;file", true, &s);

  reme_sensor_bind_camera_options(c, s, o);

  // Ensure AUX stream is aligned with the DEPTH stream
  reme_options_set_bool(c, o, "enable_align_viewpoints", true);  
  
  reme_sensor_open(c, s);
  reme_context_bind_reconstruction_options(c, o);

  // Make sure that we enable color support in the program settings.
  reme_options_set_bool(c, o, "data_integration.use_colors", true);

  // Use the tuning to derive a couple of related settings automatically.
  reme_context_tune_reconstruction_options(c, REME_TUNE_PROFILE_MID_QUALITY);

  // Compile for OpenCL device using defaults
  reme_context_compile(c);
  // Create a new volume
  reme_volume_t v;
  reme_volume_create(c, &v);
  
  // Position sensor outside of volume  
  reme_sensor_set_prescan_position(c, s, REME_SENSOR_POSITION_INFRONT);

  reme_sensor_bind_render_options(c, s, o);

  // Use color in rendering volume image
  reme_options_set(c, o, "shade_mode", "SHADE_COLORS");
  
  // Apply
  reme_sensor_apply_render_options(c, s, o);

  reme_viewer_t viewer;
  reme_viewer_create_image(c, "This is ReconstructMe SDK", &viewer);

  reme_image_t volume, aux;
  reme_image_create(c, &volume);
  reme_image_create(c, &aux);

  reme_viewer_add_image(c, viewer, aux);
  reme_viewer_add_image(c, viewer, volume);  

  // Perform reconstruction until no more frames are left
  int time = 0;
  while (time < 200 && REME_SUCCESS(reme_sensor_grab(c, s))) {

    reme_sensor_prepare_images(c, s);

    if (REME_SUCCESS(reme_sensor_track_position(c, s))) {
      reme_sensor_update_volume(c, s);
    }

    reme_sensor_get_image(c, s, REME_IMAGE_AUX, aux);
    reme_sensor_get_image(c, s, REME_IMAGE_VOLUME, volume);
    reme_viewer_update(c, viewer);
    
    time += 1;    
  }

  // Close and destroy the sensor, it is not needed anymore
  reme_sensor_close(c, s);
  reme_sensor_destroy(c, &s);

  // Create a new surface
  reme_surface_t m;
  reme_surface_create(c, &m);
  reme_surface_generate(c, m, v);

  // Colorize surface vertices.
  reme_surface_colorize_vertices(c, m, v);

  // Inpaint vertices with invalid colors.
  reme_surface_inpaint_vertices(c, m);

  // Remesh the surface to generate an isotropic tessellation
  reme_surface_bind_remesh_options(c, m, o);

  // The following properties define the allowed edge length range
  // The tesselation will adhere to these values when splitting/collapsing
  // edges according to local color and geometry change.
  reme_options_set_real(c, o, "minimum_edge_length", 3);
  reme_options_set_real(c, o, "maximum_edge_length", 20);

  // Perform remeshing
  reme_surface_remesh(c, m);

  // Remeshing as decimation might change vertex positions, 
  // we should update the color information
  reme_surface_colorize_vertices(c, m, v);
  reme_surface_inpaint_vertices(c, m);

  // Save to file including colored vertices.
  reme_surface_save_to_file(c, m, "test.ply");
  // Visualize resulting surface
  reme_viewer_t viewer_surface;
  reme_viewer_create_surface(c, m, "This is ReconstructMeSDK", &viewer_surface);
  reme_viewer_wait(c, viewer_surface);

  reme_surface_destroy(c, &m);

  // Print pending errors
  reme_context_print_errors(c);

  // Make sure to release all memory acquired
  reme_context_destroy(&c);

}

BOOST_AUTO_TEST_SUITE_END()