Viewing

Detailed Description

This module provides basic inline viewing capatibilities for debugging purposes. You should not rely on this functionality in production code. It is meant for debugging and rapid prototype purposes. Viewing will lower the performance of the system. See the example below for basic usage

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

  // Compile for OpenCL device using defaults
  reme_context_compile(c);
  
  // Create a new volume
  reme_volume_t v;
  reme_volume_create(c, &v);
  
  // Create a new sensor. Tries multiple backends using default
  // sensor configurations, returns the first working one. By default 
  // each sensor works on the first volume created.
  reme_sensor_t s;
  reme_sensor_create(c, "openni;mskinect;file", true, &s);
  reme_sensor_open(c, s);

  // For debugging purposes open a viewer for tracking the reconstruction process.
  // This will create a two-sided viewer showing the video stream and the current
  // reconstruction from the sensor point of view.
  reme_viewer_t viewer;
  reme_viewer_create_image(c, "This is ReconstructMe SDK", &viewer);
  reme_viewer_add_image(c, viewer, s, REME_IMAGE_DEPTH);
  reme_viewer_add_image(c, viewer, s, REME_IMAGE_VOLUME);

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

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

    // Try to determine updated sensor position.
    // On succes, update volume, otherwise move to a recovery position
    // and wait for the tracking to start again.
    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_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);
  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);

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

Typedef Documentation

typedef int reme_viewer_t

Handle referencing a viewer object.

Basic viewing of sensor and reconstruction outputs is provided through this SDK as an debugging functionality. You should not rely on its presence, as it might get dropped in later versions of this SDK.

Function Documentation

reme_error_t reme_viewer_create_image	(	reme_context_t	c,
		const char *	title,
		reme_viewer_t *	v
	)

Create viewer for viewing multiple images.

Parameters

c	A valid context object
title	Window title
v	A pointer to the resulting viewer object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_one_minute.cpp, example_reconstructmesdk_recorder.cpp, example_reconstructmesdk_sensor_multi_independent.cpp, example_reconstructmesdk_surface.cpp, and example_reconstructmesdk_volume.cpp.

reme_error_t reme_viewer_create_surface	(	reme_context_t	c,
		reme_surface_t	s,
		const char *	title,
		reme_viewer_t *	v
	)

Create viewer for specific surface.

In order to work properly this method should be called for a non-empty surface.

Parameters

c	A valid context object
s	A valid surface object
title	Window title
v	A pointer to the resulting viewer object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_one_minute.cpp, and example_reconstructmesdk_surface.cpp.

reme_error_t reme_viewer_destroy	(	reme_context_t	c,
		reme_viewer_t *	v
	)

Destroy a previously created viewer object.

Parameters

c	A pointer to a valid context object
v	A mutable pointer to a valid viewer handle to destroy

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

reme_error_t reme_viewer_add_image	(	reme_context_t	c,
		reme_viewer_t	v,
		reme_sensor_t	s,
		reme_sensor_image_t	i
	)

Add image to be displayed.

Parameters

c	A valid context object
v	A valid viewer object
s	A valid sensor object
i	The type of image to add from sensor

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_one_minute.cpp, example_reconstructmesdk_recorder.cpp, example_reconstructmesdk_sensor_multi_independent.cpp, example_reconstructmesdk_surface.cpp, and example_reconstructmesdk_volume.cpp.

reme_error_t reme_viewer_update	(	reme_context_t	c,
		reme_viewer_t	v
	)

Update viewer content.

Updates the content of the given viewer for a single frame.

Parameters

c	A valid context object
v	A valid viewer object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_one_minute.cpp, example_reconstructmesdk_recorder.cpp, example_reconstructmesdk_sensor_multi_independent.cpp, example_reconstructmesdk_surface.cpp, and example_reconstructmesdk_volume.cpp.

reme_error_t reme_viewer_wait	(	reme_context_t	c,
		reme_viewer_t	v
	)

Update viewer content until the user closes the viewer.

Blocks the calling thread until the user closes the viewer.

Parameters

c	A valid context object
v	A valid viewer object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_one_minute.cpp, and example_reconstructmesdk_surface.cpp.