example_reconstructmesdk_sensor.cpp

Content

Shows how to work with sensors.

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

  // Create any sensor
  reme_sensor_t s;
  reme_sensor_create(c, "mskinect", true, &s);
  // Access camera properties and disable rgb and enable ir stream
  reme_options_t o_cam;
  reme_options_create(c, &o_cam);
  
  reme_sensor_bind_camera_options(c, s, o_cam);
  reme_options_set(c, o_cam, "aux_stream.type", "STREAM_IR");

  // Open the sensor. This takes camera options into account.
  reme_sensor_open(c, s);
  reme_options_t o_cap;
  reme_options_create(c, &o_cap);

  // Bind the capture options. See documentation of this method for a list of properties available.
  reme_sensor_bind_capture_options(c, s, o_cap);

  // Read frame size of auxilary image (IR).
  bool supported;
  int width, height;
  
  reme_options_get_bool(c, o_cap, "frame_info.supports_aux", &supported);
  reme_options_get_int(c, o_cap, "frame_info.aux_size.width", &width);
  reme_options_get_int(c, o_cap, "frame_info.aux_size.height", &height);

  printf("Auxilary supported: %s (%i x %i)", supported ? "true" : "false", width, height);

  reme_image_t aux;
  reme_image_create(c, &aux);

  // Grab image. Synchronizes all image streams.
  reme_sensor_grab(c, s);

  // Prepare just the auxilary image
  reme_sensor_prepare_image(c, s, REME_IMAGE_AUX);

  // Get the image
  reme_sensor_get_image(c, s, REME_IMAGE_AUX, aux);

  // Visualize image and wait for user to close viewer
  reme_viewer_t v;
  reme_viewer_create_image(c, "Auxilary Image", &v);
  reme_viewer_add_image(c, v, aux);
  reme_viewer_update(c, v);
  reme_viewer_wait(c, v);

  // Here we modify the position of the tilt-angle of the Microsoft Kinect for Windows camera.
  // We clear all values before indicating that we are just interesting in setting the tilt angle
  // and no other value.

  reme_options_clear(c, o_cap);
  reme_options_set_int(c, o_cap, "tilt_angle", 0);

  // Apply capture properties
  reme_sensor_apply_capture_options(c, s, o_cap);
  
  // Close sensor communication
  reme_sensor_close(c, s);

  // Destroy sensor
  reme_sensor_destroy(c, &s);

  // Print pending errors
  reme_context_print_errors(c);
  
  // Make sure to release all memory acquired
  reme_context_destroy(&c);
}

BOOST_AUTO_TEST_SUITE_END()