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>
#include <stdio.h>

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);

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

  // Create an image to hold the result
  reme_image_t i;
  reme_image_create(c, &i);

  int width, height, nchans;

  // Viewer for displaying up to 12 images in parallel
  reme_viewer_t v;
  reme_viewer_create_image(c, "Images", &v);
  reme_viewer_add_image(c, v, i);
  
  int counter = 0;
  while (REME_SUCCESS(reme_sensor_grab(c, s))) 
  {
    // Update internal state of images
    reme_sensor_prepare_image(c, s, REME_IMAGE_AUX);    

    // Receive the image into our image handle
    reme_sensor_get_image(c, s, REME_IMAGE_AUX, i);

    if (counter % 30 == 0) {

      // Derive the correct image format
      reme_image_get_info(c, i, &width, &height, &nchans);

      // Save image as PNG

      char buffer[50];
      sprintf (buffer, "image_%i.png", counter);

      reme_image_save_to_file(c, i, buffer);

      printf("Saved image (%ix%i - %i channels) to %s \n", width, height, nchans, buffer);
    }

    // Update the viewer
    reme_viewer_update(c, v);

    counter += 1;
  }

  // Print pending errors
  reme_context_print_errors(c);

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

}

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

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

  // Create an image to hold the result
  reme_image_t i;
  reme_image_create(c, &i);

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

    // Receive the image into our image handle
    reme_sensor_get_image(c, s, REME_IMAGE_AUX, i);

    // Receive the pointer to the data
    reme_image_get_bytes(c, i, &data, &length);

    // Derive the correct image format
    reme_image_get_info(c, i, &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);
  }

  // Print pending errors
  reme_context_print_errors(c);

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

BOOST_AUTO_TEST_SUITE_END()