Volume

Detailed Description

The volume defines the space in which reconstruction can take place. The example below illustrates the 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 openni sensor using default intrinsics
  reme_sensor_t s;
  reme_sensor_create(c, "openni;mskinect;file", true, &s);
  reme_sensor_open(c, s);
  
  reme_viewer_t viewer;
  reme_viewer_create_image(c, "This is ReconstructMeSDK", &viewer);
  reme_viewer_add_image(c, viewer, s, REME_IMAGE_AUX);
  reme_viewer_add_image(c, viewer, s, REME_IMAGE_VOLUME);

  const void *bytes;
  int length;
  bool continue_scanning = true;

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

    // Keyboard handling
    if (_kbhit()) { 
      char k = _getch();
      switch(k) {

        // Key 'r' resets the volume to empty state
        case 'r': {
          reme_volume_reset(c, v);
          reme_sensor_reset(c, s);
          break;
                  }

        // Key 's' saves the volume content to disk
        case 's' : {
          reme_volume_get_bytes(c, v, &bytes, &length);

          FILE *f = fopen("volume.bin", "wb");
          fwrite(&length, sizeof(int), 1, f);
          fwrite(bytes, 1, length, f);
          fclose(f);
          break;
                   }

        // Key 'l' loads the volume content from disk
        case 'l': {     
          FILE *f = fopen("volume.bin", "rb");
          fread(&length, sizeof(int), 1, f);
          void *buffer = malloc(length);
          fread(buffer, 1, length, f);
          fclose(f);

          reme_volume_set_bytes(c ,v, buffer, length);
          reme_sensor_reset(c, s);
          free(buffer);
          break;
                  }

        case 'x': {
          continue_scanning = false;
          break;
                  }

      } // end switch
    } // end if kbhit()

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

    // Try to determine updated sensor position by 
    // matching current data against volume content
    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);

  }

Typedef Documentation

typedef int reme_volume_t

Handle referencing a volume object.

A reme_volume_t represents a volume in 3D space. Everything within that volume is potentially reconstructed during processing sensor data.

Function Documentation

reme_error_t reme_volume_create	(	reme_context_t	c,
		reme_volume_t *	v
	)

Create a new reme_volume_t object.

Parameters

c	A valid context object
v	A pointer that will receive the handle of the created volume

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_volume_destroy	(	reme_context_t	c,
		reme_volume_t *	v
	)

Destroy a previously created volume object.

Parameters

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

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

reme_error_t reme_volume_get_time	(	reme_context_t	c,
		reme_volume_t	v,
		int *	time
	)

Get the volume time.

The volume time corresponds to the number of updates performed on this volume. Initialize it is set to zero.

Parameters

c	A valid context object
v	A valid volume object
time	The volume time

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

reme_error_t reme_volume_get_bytes	(	reme_context_t	c,
		reme_volume_t	v,
		const void **	bytes,
		int *	length
	)

Returns the content of the volume as an array of bytes.

Downloads the current content of the volume to host side. Using in combination with reme_volume_set_bytes one can resume a previously started reconstruction as long as the volume parameters (dimensions) match.

Parameters

c	A valid context object
v	A valid volume object
bytes	A mutable pointer that will receive the address of the volume content.
length	A pointer that will receive the size of the returned array in bytes.

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_volume.cpp.

reme_error_t reme_volume_set_bytes	(	reme_context_t	c,
		reme_volume_t	v,
		const void *	bytes,
		int	length
	)

Sets the content of the volume to the given array of bytes.

Uploads the given array as volume content to the device side. Using in combination with reme_volume_get_bytes one can resume a previously started reconstruction as long as the volume parameters (dimensions) match.

Parameters

c	A valid context object
v	A valid volume object
bytes	An array of bytes
length	Number of bytes in the array

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_volume.cpp.

reme_error_t reme_volume_reset	(	reme_context_t	c,
		reme_volume_t	v
	)

Reset the volume to empty state.

Forces the volume to clear its content.

Parameters

c	A valid context object
v	A valid volume object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_volume.cpp.