example_reconstructmesdk_sensor_multi_independent.cpp

Content

This example shows how to use multiple sensors on a single volume. Both sensors calibrate to each other via sensor data. This allows moving each sensor independently.

At the beginning the first sensor defines the world frame by adding data to the volume. This forces the second sensor to register with the content of the volume, before it can start to move. Once tracking is found, both sensors can be moved independently of each other.

Note, 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>

BOOST_AUTO_TEST_SUITE(example_reconstructmesdk)

BOOST_AUTO_TEST_CASE(sensor_multi_independent)
{
  // Create a new context
  reme_context_t c;
  reme_context_create(&c);
  reme_context_compile(c);
  
  // Create a new volume
  reme_volume_t v;
  reme_volume_create(c, &v);
  
  // Create a two sensors, both pointing to different file streams
  reme_options_t o;
  reme_options_create(c, &o);

  reme_sensor_t sensor[2];

  reme_sensor_create(c, "file", false, &sensor[0]);
  reme_sensor_create(c, "file", false, &sensor[1]);

  reme_sensor_bind_camera_options(c, sensor[0], o);
  reme_options_load_from_file(c, o, "one.txt");
  
  reme_sensor_bind_camera_options(c, sensor[1], o);
  reme_options_load_from_file(c, o, "two.txt");
   
  reme_sensor_open(c, sensor[0]);
  reme_sensor_open(c, sensor[1]);

  // Prepare viewers
  reme_viewer_t viewer;
  reme_viewer_create_image(c, "This is ReconstructMeSDK", &viewer);

  reme_image_t imgs[4];
  reme_image_create(c, &imgs[0]);
  reme_image_create(c, &imgs[1]);
  reme_image_create(c, &imgs[2]);
  reme_image_create(c, &imgs[3]);

  reme_viewer_add_image(c, viewer, imgs[0]);
  reme_viewer_add_image(c, viewer, imgs[1]);
  reme_viewer_add_image(c, viewer, imgs[2]);
  reme_viewer_add_image(c, viewer, imgs[3]);
  
  // Perform reconstruction while at least one sensor has data.

  reme_error_t grab[2] = {REME_ERROR_SUCCESS, REME_ERROR_SUCCESS};
  
  while (REME_SUCCESS(grab[0]) || REME_SUCCESS(grab[1])) 
  {
    // Grab from both sensors. 
    grab[0] = reme_sensor_grab(c, sensor[0]);
    grab[1] = reme_sensor_grab(c, sensor[1]);

    // Update the volume from both sensors when we sensor tracking succeeded. 
    // Note that reme_sensor_track_position returns true when the volume is
    // empty too.
    for (int i = 0; i < 2; ++i) {

      if (REME_SUCCESS(grab[i])) {
        reme_sensor_prepare_images(c, sensor[i]);
      
        if (REME_SUCCESS(reme_sensor_track_position(c, sensor[i]))) {      
          reme_sensor_update_volume(c, sensor[i]);
        }
      }
    }

    reme_sensor_update_image(c, sensor[0], REME_IMAGE_DEPTH, imgs[0]);
    reme_sensor_update_image(c, sensor[0], REME_IMAGE_VOLUME, imgs[1]);
    reme_sensor_update_image(c, sensor[1], REME_IMAGE_DEPTH, imgs[2]);
    reme_sensor_update_image(c, sensor[1], REME_IMAGE_VOLUME, imgs[3]);
    reme_viewer_update(c, viewer);
  }

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

}

BOOST_AUTO_TEST_SUITE_END()