example_reconstructmesdk_volume.cpp

Content

This example shows how to save and restore the reconstruction volume.

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 <stdio.h>
#include <conio.h>

BOOST_AUTO_TEST_SUITE(example_reconstructmesdk)

BOOST_AUTO_TEST_CASE(volume)
{
  puts("Key mapping");
  puts("x: quit scanning");
  puts("r: reset volume to empty state");
  puts("s: save volume to disk");
  puts("l: load volume from disk and resume");
  puts("All keys need to be pressed with the command line in the foreground");

  // 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_image_t imgs[2];
  reme_image_create(c, &imgs[0]);
  reme_image_create(c, &imgs[1]);

  reme_viewer_add_image(c, v, imgs[0]);
  reme_viewer_add_image(c, v, imgs[1]);

  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_sensor_update_image(c, s, REME_IMAGE_DEPTH, imgs[0]);
    reme_sensor_update_image(c, s, REME_IMAGE_VOLUME, imgs[1]);
    reme_viewer_update(c, viewer);

  }

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

}

BOOST_AUTO_TEST_SUITE_END()