example_reconstructmesdk_sensor_printing.cpp

Content

Shows how to place the volume centered around the world coordinate origin and how to replace the initial sensor position using some extrinsic knowledge.

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

  // Create options to modify the position of the volume
  reme_options_t o;
  reme_options_create(c, &o);
  reme_context_bind_reconstruction_options(c, o);

  reme_options_set_int(c, o, "volume.minimum_corner.x", -500);
  reme_options_set_int(c, o, "volume.minimum_corner.y", -500);
  reme_options_set_int(c, o, "volume.minimum_corner.z", 0);

  reme_options_set_int(c, o, "volume.maximum_corner.x", 500);
  reme_options_set_int(c, o, "volume.maximum_corner.y", 500);
  reme_options_set_int(c, o, "volume.maximum_corner.z", 1000);

  reme_context_tune_reconstruction_options(c, REME_TUNE_PROFILE_MID_QUALITY);

  // 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 sensor. 
  reme_sensor_t s;
  reme_sensor_create(c, "openni;mskinect;file", true, &s);
  reme_sensor_open(c, s);

  // Specify eye, ref and up with respect to world
  const float eye[3] = {0.f, -1000.f,  500.f};
  const float ref[3] = {0.f,     0.f,  500.f};
  const float up[3]  = {0.f,     0.f,    1.f};

  // Create sensor coordinate system with respect to world
  float mat[16];
  reme_transform_look_at(c, eye, ref, up, mat);

  // Set initial sensor position
  reme_sensor_set_position(c, s, mat);
  // We set the same position first recovery position
  reme_sensor_set_recovery_position(c, s, mat);

  //                    x     y     z    origin                     
  float mat2[4][4] = {{1.f,  0.f,  0.f,     0.f},
                      {0.f,  0.f,  1.f, -1000.f},
                      {0.f, -1.f,  0.f,   500.f},
                      {0.f,  0.f,  0.f,     1.f}};

  reme_sensor_set_position(c, s, &mat2[0][0]);
  reme_sensor_set_recovery_position(c, s, &mat2[0][0]);
  // For debugging purposes open a viewer for tracking the reconstruction process.
  reme_viewer_t viewer;
  reme_viewer_create_image(c, "This is ReconstructMe SDK", &viewer);

  reme_image_t volume, aux;
  reme_image_create(c, &volume);
  reme_image_create(c, &aux);

  reme_viewer_add_image(c, viewer, aux);
  reme_viewer_add_image(c, viewer, volume);  

  // Perform reconstruction until no more frames are left
  int time = 0;
  while (time < 200 && REME_SUCCESS(reme_sensor_grab(c, s))) {

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

    // Try to determine updated sensor position.
    // On succes, update volume, otherwise move to a recovery position
    // and wait for the tracking to start again.
    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_AUX, aux);
    reme_sensor_get_image(c, s, REME_IMAGE_VOLUME, volume);
    reme_viewer_update(c, viewer);
    time += 1;
  }

  // Close and destroy the sensor, it is not needed anymore
  reme_sensor_close(c, s);
  reme_sensor_destroy(c, &s);

  // Create a new surface
  reme_surface_t m;
  reme_surface_create(c, &m);
  reme_surface_generate(c, m, v);
  reme_surface_save_to_file(c, m, "test.ply");
  reme_surface_destroy(c, &m);

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

BOOST_AUTO_TEST_SUITE_END()