example_reconstructmesdk_image.cpp

Content

This example shows how to access images generated by sensor objects. Additionally to ReMe it uses OpenCV to display them for the sake of simplicity of this example.

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 <opencv2/opencv.hpp>

BOOST_AUTO_TEST_SUITE(example_reconstructmesdk)

BOOST_AUTO_TEST_CASE(image)
{
  // Create a new context that has default options applied
  reme_context_t c;
  reme_context_create(&c);
  reme_context_compile(c);

  // Create a sensor using a saved data stream
  reme_sensor_t s;
  reme_sensor_create(c, "openni;mskinect;file", false,  &s);
  reme_sensor_open(c, s);

  const void *data;
  int width, height;
  
  while (REME_SUCCESS(reme_sensor_grab(c, s))) 
  {
    // Update internal state of images
    reme_sensor_prepare_image(c, s, REME_IMAGE_AUX);

    // Once the reme_sensor_retrieve completes, we request a pointer to its data
    reme_sensor_get_image(c, s, REME_IMAGE_AUX, &data, &width, &height);
    
    // In C++ we could now feed this to OpenCV for visualization
    cv::Mat rgb(height, width, CV_8UC3, (char*)data);
    cv::Mat bgr;
    cv::cvtColor(rgb, bgr, CV_RGB2BGR);
    cv::imshow("RGB", bgr);
    cv::waitKey(10);
  }

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

}

BOOST_AUTO_TEST_SUITE_END()