example_reconstructmesdk_volume.cpp

Content

This example shows how to save and restore the reconstruction volume.

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 <stdio.h>
#include <conio.h>

BOOST_AUTO_TEST_SUITE(example_reconstructmesdk)

BOOST_AUTO_TEST_CASE(volume)
{
  puts("Key mapping");
  puts("x: quit scanning");
  puts("r: reset volume to empty state");
  puts("s: save volume to disk");
  puts("l: load volume from disk and resume");
  puts("All keys need to be pressed with the command line in the foreground");

  // 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);

  // Retrieve num_slices
  int num_slices;
  reme_options_t o;
  reme_options_create(c, &o);
  reme_context_bind_reconstruction_options(c, o);
  reme_options_get_int(c, o, "volume.resolution.z", &num_slices);

  // Create a new openni sensor using default intrinsics
  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;
  reme_viewer_create_image(c, "This is ReconstructMeSDK", &viewer);

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

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

  const void *bytes;
  int length;
  void *load_buffer = 0;
  int load_buffer_length = 0;
  bool continue_scanning = true;

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

    // Keyboard handling
    if (_kbhit()) { 
      char k = _getch();
      switch(k) {

        // Key 'r' resets the volume to empty state
        case 'r': {
          reme_volume_reset(c, v);
          reme_sensor_reset(c, s);
          break;
                  }

        // Key 's' saves the volume content to disk
        case 's' : {
          FILE *f = fopen("volume.bin", "wb");
          for (int i = 0; i < num_slices; i++) 
          {
            reme_volume_slice_get_bytes(c, v, i, &bytes, &length);
            fwrite(&length, sizeof(int), 1, f);
            fwrite(bytes, 1, length, f);            
          }
          fclose(f);
          break;
                   }

        // Key 'l' loads the volume content from disk
        case 'l': {
          FILE *f = fopen("volume.bin", "rb");
          for (int i = 0; i < num_slices; i++) 
          {
            fread(&length, sizeof(int), 1, f);
            if (load_buffer_length != length) {
              if (load_buffer != 0)
                free(load_buffer);
              load_buffer = malloc(length);
              load_buffer_length = length;
            }
            fread(load_buffer, 1, length, f);
            reme_volume_slice_set_bytes(c ,v, i, load_buffer, length);
          }
          fclose(f);
          if (load_buffer != 0) {
            free(load_buffer);
            load_buffer = 0;
            load_buffer_length = 0;
          }
          reme_sensor_reset(c, s);
          break;
                  }

        case 'x': {
          continue_scanning = false;
          break;
                  }

      } // end switch
    } // end if kbhit()

    // 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);

    }

    // Update the viewer
    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);

  }

  // Print pending errors
  reme_context_print_errors(c);

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

}

BOOST_AUTO_TEST_SUITE_END()