example_reconstructmesdk_recorder.cpp

Content

This example shows how to use the recorder to generate a file sensor compatible output for replaying from disk.

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 <conio.h>
#include <iostream>

BOOST_AUTO_TEST_SUITE(example_reconstructmesdk)

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

  // Options object
  reme_options_t o;
  reme_options_create(c, &o);

  // Create a new real sensor
  reme_sensor_t s;
  reme_sensor_create(c, "openni;mskinect", true, &s);
  reme_sensor_open(c, s);

  // Create a new file recorder.
  // By default the recorder uses the first sensor.
  reme_recorder_t r;
  reme_recorder_create(c, &r);

  // Specify the sensor to use
  reme_recorder_set_sensor(c, r, s);

  // Modify the recording outputs
  reme_recorder_bind_file_options(c, r, o);
  reme_options_set(c, o, "file_sensor_config", "my_file_recording.txt");
  reme_options_set(c, o, "depth_file", "my_depths.gz");
  reme_options_set(c, o, "color_file", "my_colors.avi");
  
  // Open the recorder. At this point the sensor
  // needs to be open as well.
  reme_recorder_open(c, r);

  // Quick viewer
  reme_viewer_t viewer;
  reme_viewer_create_image(c, "Recording data", &viewer);

  reme_image_t depth;
  reme_image_create(c, &depth);
  reme_viewer_add_image(c, viewer, depth);

  // Loop until done
  while (!_kbhit() && REME_SUCCESS(reme_sensor_grab(c, s))) {

    // Prepare image and depth data
    reme_sensor_prepare_image(c, s, REME_IMAGE_AUX);
    reme_sensor_prepare_image(c, s, REME_IMAGE_DEPTH);

    // Update the recorder with current sensor data
    reme_recorder_update(c, r);

    // Update the viewer
    reme_sensor_get_image(c, s, REME_IMAGE_DEPTH, depth);
    reme_viewer_update(c, viewer);
  }

  // Done with recorder, forces the files to be closed.
  reme_recorder_close(c, r);
  
  // Compile for OpenCL device using defaults
  reme_context_compile(c);

  // Create a new volume
  reme_volume_t v;
  reme_volume_create(c, &v);

  // Replay from previously generated files
  reme_sensor_create(c, "file", false, &s);
  reme_sensor_bind_camera_options(c, s, o);
  reme_options_load_from_file(c, o, "my_file_recording.txt");
  reme_sensor_open(c, s);
  reme_sensor_set_prescan_position(c, s, REME_SENSOR_POSITION_INFRONT);

  // New viewer
  reme_viewer_create_image(c, "Replaying data", &viewer);
  reme_image_t volume;
  reme_image_create(c, &volume);
  reme_viewer_add_image(c, viewer, volume);

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

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

    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_get_image(c, s, REME_IMAGE_VOLUME, volume);
    reme_viewer_update(c, viewer);

  }

  // Print pending errors
  reme_context_print_errors(c);

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

}

BOOST_AUTO_TEST_SUITE_END()