example_reconstructmesdk_point_and_shoot_with_colors.cpp

Content

This examples shows how to use the point&shoot mode by making use of global registration. Instead of real-time scanning, images will only be taken at specific locations (user-driver). Additionally color information will be integrated.

Boost is only used to generate examples and is not necessary for working with this SDK.

#include <boost/test/unit_test.hpp>

#include <reconstructmesdk/reme.h>
#include <stdio.h>
#include <conio.h>

BOOST_AUTO_TEST_SUITE(example_reconstructmesdk)
BOOST_AUTO_TEST_CASE(point_and_shoot_colorize)
{
  puts("Press any key to trigger the acquisition of a single frame.");
  puts("Note that the console window needs to be in the fore-ground.");
  puts("Press 'x' to stop reconstruction.");
  
  // 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");

  // We adjust a couple of reconstruction settings to gain optimal registration results and colorize.
  reme_options_t o;
  reme_options_create(c, &o);
  reme_context_bind_reconstruction_options(c, o);

  // Turn on colors
  reme_options_set_bool(c, o, "data_integration.use_colors", true);

  // Relax verification, as each frame might add a huge areas of unseen area.
  reme_options_set_real(c, o, "camera_tracking.verification.maximum_sdf_change_on_track", 2.f);
  reme_options_set_real(c, o, "camera_tracking.verification.maximum_sdf_change_no_track", 2.f);

  // Allow global search to perform longer, finding a potentially better transform
  reme_options_set_real(c, o, "camera_tracking.global_search.minimum_inlier_percentage", 0.1f);
  reme_options_set_real(c, o, "camera_tracking.global_search.maximum_seconds", 2.f);
  
  // Use the auto-tuner to setup some parameters automatically
  reme_context_tune_reconstruction_options(c, REME_TUNE_PROFILE_MID_QUALITY);

  // Compile for OpenCL device
  reme_context_compile(c);
  
  // Create a new volume
  reme_volume_t v;
  reme_volume_create(c, &v);
  
  // 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);
  reme_options_set_bool(c, o, "enable_align_viewpoints", true);  

  reme_sensor_open(c, s);
  reme_sensor_set_prescan_position(c, s, REME_SENSOR_POSITION_INFRONT);

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

  // Always use global tracking
  reme_sensor_set_trackmode(c, s, REME_SENSOR_TRACKMODE_GLOBAL);

  // For debugging purposes open a viewer for tracking the reconstruction process.
  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);

  // Main reconstruction loop
  bool continue_scanning = true;
  while (continue_scanning && REME_SUCCESS(reme_sensor_grab(c, s))) {

    // Prepare image and depth data
    reme_sensor_prepare_image(c, s, REME_IMAGE_AUX);

    if (_kbhit()) {
      char k = _getch();
      if (k == 'x')
        continue_scanning = false;

      reme_sensor_prepare_image(c, s, REME_IMAGE_DEPTH);
      reme_sensor_prepare_image(c, s, REME_IMAGE_VOLUME);

      // Track and update
      if (REME_SUCCESS(reme_sensor_track_position(c, s))) {
        reme_sensor_update_volume(c, s);
      }

      reme_sensor_prepare_image(c, s, REME_IMAGE_VOLUME);
    }

    // Update the viewer
    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);
  }

  // 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);
  reme_surface_poisson(c, m);
  reme_surface_colorize_vertices(c, m, v);
  reme_surface_inpaint_vertices(c, m);
  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()