example_reconstructmesdk_surface.cpp

Content

This example shows how use the surface generation module.

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(surface)
{
  // This example shows how use the surface generation module.

  // 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 sensor using a stream from disk
  reme_sensor_t s;
  reme_sensor_create(c, "openni;mskinect;file", true, &s);
  reme_sensor_open(c, s);
  reme_sensor_set_prescan_position(c, s, REME_SENSOR_POSITION_INFRONT);

  reme_viewer_t viewer_live;
  reme_viewer_create_image(c, "This is ReconstructMe SDK", &viewer_live);

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

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

  // Perform reconstruction until no more frames are left
  int count = 0;
  while (count < 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 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);

    }

    reme_sensor_get_image(c, s, REME_IMAGE_DEPTH, imgs[0]);
    reme_sensor_get_image(c, s, REME_IMAGE_VOLUME, imgs[1]);
    reme_viewer_update(c, viewer_live);
    ++count;
  }

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

  // Create a new empty surface
  reme_surface_t m;
  reme_surface_create(c, &m);

  // We use an options object to control various aspects of the generation process
  reme_options_t o;
  reme_options_create(c, &o);

  // Bind the options that define how the basic surface is extracted from the volume.
  reme_surface_bind_generation_options(c, m, o);

  // We disable merging of close vertices at this stage because the data is directly
  // passed into poisson reconstruction which deals with duplicate vertices anyway
  reme_options_set_bool(c, o, "merge_duplicate_vertices", false);

  // Extract surface from volume.
  reme_surface_generate(c, m, v);

  // Close holes through Poisson reconstruction
  reme_surface_bind_poisson_options(c, m, o);
  reme_options_set_int(c, o, "depth", 8);  
  reme_surface_poisson(c, m);

  // Reduce mesh down to 20k triangles
  reme_surface_bind_decimation_options(c, m, o);
  reme_options_set_int(c, o, "maximum_faces", 20000);  
  reme_surface_decimate(c, m);

  // View the result and wait until the user closes the viewer
  reme_viewer_t viewer;
  reme_viewer_create_surface(c, m, "This is ReconstructMeSDK", &viewer);
  reme_viewer_wait(c, viewer);

  // Export mesh
  reme_surface_save_to_file(c, m, "test.ply");

  // Print pending errors
  reme_context_print_errors(c);

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

}

BOOST_AUTO_TEST_SUITE_END()