example_reconstructmesdk_recorder.cpp

Content

This example shows how to use the recorder to generate a file sensor compatible output for replaying from disk.

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 <conio.h>
#include <iostream>

BOOST_AUTO_TEST_SUITE(example_reconstructmesdk)

BOOST_AUTO_TEST_CASE(recorder) {
    // Create a new context
    reme_context_t c;
    reme_context_create(&c);

    // Options object
    reme_options_t o;
    reme_options_create(c, &o);

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

    // Create a new file recorder.
    // By default the recorder uses the first sensor.
    reme_recorder_t r;
    reme_recorder_create(c, &r);

    // Specify the sensor to use
    reme_recorder_set_sensor(c, r, s);

    // Modify the recording outputs
    reme_recorder_bind_file_options(c, r, o);
    reme_options_set(c, o, "file_sensor_config", "my_file_recording.txt");
    reme_options_set(c, o, "depth_file", "my_depths.gz");
    reme_options_set(c, o, "color_file", "my_colors.avi");

    // Open the recorder. At this point the sensor
    // needs to be open as well.
    reme_recorder_open(c, r);

    // Quick viewer
    reme_viewer_t viewer;
    reme_viewer_create_image(c, "Recording data", &viewer);

    reme_image_t depth, color;
    reme_image_create(c, &depth);
    reme_image_create(c, &color);
    reme_viewer_add_image(c, viewer, depth);
    reme_viewer_add_image(c, viewer, color);

    // Loop until done
    while (!_kbhit() && REME_SUCCESS(reme_sensor_grab(c, s))) {

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

        // Update the recorder with current sensor data
        reme_recorder_update(c, r);

        // Update the viewer
        reme_sensor_get_image(c, s, REME_IMAGE_DEPTH, depth);
        reme_sensor_get_image(c, s, REME_IMAGE_AUX, color);
        reme_viewer_update(c, viewer);
    }

    // Done with recorder, forces the files to be closed.
    reme_recorder_close(c, r);

    // Compile for OpenCL device using defaults
    reme_context_compile(c);

    // Create a new volume
    reme_volume_t v;
    reme_volume_create(c, &v);

    // Replay from previously generated files
    reme_sensor_create(c, "file", false, &s);
    reme_sensor_bind_camera_options(c, s, o);
    reme_options_load_from_file(c, o, "my_file_recording.txt");
    reme_sensor_open(c, s);
    reme_sensor_set_prescan_position(c, s, REME_SENSOR_POSITION_INFRONT);

    // New viewer
    reme_viewer_create_image(c, "Replaying data", &viewer);
    reme_image_t volume;
    reme_image_create(c, &volume);
    reme_viewer_add_image(c, viewer, volume);

    while (REME_SUCCESS(reme_sensor_grab(c, s))) {

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

        if (REME_SUCCESS(reme_sensor_track_position(c, s))) {

            // Update volume with depth data from the
            // current sensor perspective
            reme_sensor_update_volume(c, s);

        }

        // Update the viewer
        reme_sensor_get_image(c, s, REME_IMAGE_VOLUME, volume);
        reme_viewer_update(c, viewer);

    }

    // Print pending errors
    reme_context_print_errors(c);

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

}

BOOST_AUTO_TEST_SUITE_END()