Volume

Access and manipulate the reconstruction volume. More...

Typedefs
typedef int	reme_volume_t
	Handle referencing a volume object.
reme_error_t	reme_volume_create (reme_context_t c, reme_volume_t *v)
	Create a new reme_volume_t object.
reme_error_t	reme_volume_destroy (reme_context_t c, reme_volume_t *v)
	Destroy a previously created volume object.
reme_error_t	reme_volume_get_time (reme_context_t c, reme_volume_t v, int *time)
	Get the volume time.
reme_error_t	reme_volume_get_bytes (reme_context_t c, reme_volume_t v, const void **bytes, int *length)
	Returns the content of the volume as an array of bytes.
reme_error_t	reme_volume_color_get_bytes (reme_context_t c, reme_volume_t v, const void **bytes, int *length)
	Returns the content of the color volume as an array of bytes.
reme_error_t	reme_volume_slice_get_bytes (reme_context_t c, reme_volume_t v, const int slice, const void **bytes, int *length)
	Returns the content of a specific slice ("xy-plane") of the volume as an array of bytes.
reme_error_t	reme_volume_color_slice_get_bytes (reme_context_t c, reme_volume_t v, const int slice, const void **bytes, int *length)
	Returns the content of a specific slice ("xy-plane") of the color volume as an array of bytes.
reme_error_t	reme_volume_set_bytes (reme_context_t c, reme_volume_t v, const void *bytes, int length)
	Sets the content of the volume to the given array of bytes.
reme_error_t	reme_volume_color_set_bytes (reme_context_t c, reme_volume_t v, const void *bytes, int length)
	Sets the content of the color volume to the given array of bytes.
reme_error_t	reme_volume_slice_set_bytes (reme_context_t c, reme_volume_t v, const int slice, const void *bytes, int length)
	Sets the content of a slice ("xy-plane") of the volume to the given array of bytes.
reme_error_t	reme_volume_color_slice_set_bytes (reme_context_t c, reme_volume_t v, const int slice, const void *bytes, int length)
	Sets the content of a slice ("xy-plane") of the color volume to the given array of bytes.
reme_error_t	reme_volume_reset (reme_context_t c, reme_volume_t v)
	Reset the volume to empty state.

Detailed Description

Access and manipulate the reconstruction volume.

The volume defines the space in which reconstruction can take place. The dimensions and the resolution of the volume are currently fixed at compile time. Therefore, to manipulate volume related parameters use reme_context_bind_reconstruction_options before calling reme_context_compile.

The example below illustrates how to work we a default volume. Besides scanning, saving the content of the volume to disk and resuming later is supported.

  // 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);

  }

Typedef Documentation

typedef int reme_volume_t

Handle referencing a volume object.

A reme_volume_t represents a volume in 3D space. Everything within that volume is potentially reconstructed during processing sensor data.

Function Documentation

reme_error_t reme_volume_create	(	reme_context_t	c,
		reme_volume_t *	v
	)

Create a new reme_volume_t object.

Parameters

c	A valid context object
v	A pointer that will receive the handle of the created volume

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_colorize.cpp, example_reconstructmesdk_error_handling.cpp, example_reconstructmesdk_one_minute.cpp, example_reconstructmesdk_point_and_shoot_with_colors.cpp, example_reconstructmesdk_recorder.cpp, example_reconstructmesdk_scan_tilt.cpp, example_reconstructmesdk_sensor_multi_independent.cpp, example_reconstructmesdk_sensor_printing.cpp, example_reconstructmesdk_sensor_threaded.cpp, example_reconstructmesdk_surface.cpp, and example_reconstructmesdk_volume.cpp.

reme_error_t reme_volume_destroy	(	reme_context_t	c,
		reme_volume_t *	v
	)

Destroy a previously created volume object.

Parameters

c	A pointer to a valid context object
v	A mutable pointer to a valid volume handle to destroy

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

reme_error_t reme_volume_get_time	(	reme_context_t	c,
		reme_volume_t	v,
		int *	time
	)

Get the volume time.

The volume time corresponds to the number of updates performed on this volume. Initialize it is set to zero.

Parameters

c	A valid context object
v	A valid volume object
time	The volume time

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

reme_error_t reme_volume_get_bytes	(	reme_context_t	c,
		reme_volume_t	v,
		const void **	bytes,
		int *	length
	)

Returns the content of the volume as an array of bytes.

Downloads the current content of the volume to host side. Using in combination with reme_volume_set_bytes one can resume a previously started reconstruction as long as the volume parameters (dimensions) match.

Parameters

c	A valid context object
v	A valid volume object
bytes	A mutable pointer that will receive the address of the volume content.
length	A pointer that will receive the size of the returned array in bytes.

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

reme_error_t reme_volume_color_get_bytes	(	reme_context_t	c,
		reme_volume_t	v,
		const void **	bytes,
		int *	length
	)

Returns the content of the color volume as an array of bytes.

Downloads the current content of the color volume to host side. Using in combination with reme_volume_color_set_bytes one can resume a previously started reconstruction as long as the volume parameters (dimensions) match.

Parameters

c	A valid context object
v	A valid volume object
bytes	A mutable pointer that will receive the address of the color volume content.
length	A pointer that will receive the size of the returned array in bytes.

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

reme_error_t reme_volume_slice_get_bytes	(	reme_context_t	c,
		reme_volume_t	v,
		const int	slice,
		const void **	bytes,
		int *	length
	)

Returns the content of a specific slice ("xy-plane") of the volume as an array of bytes.

Downloads the current content of the slice ("xy-plane") of the volume to host side. Using in combination with reme_volume_slice_set_bytes one can resume a previously started reconstruction as long as the volume parameters (dimensions) match.

The number of slices equals the number of voxels in the z-dimension.

Parameters

c	A valid context object
v	A valid volume object
slice	Slize index along z-Dimension
bytes	A mutable pointer that will receive the address of the volume content.
length	A pointer that will receive the size of the returned array in bytes.

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_volume.cpp.

reme_error_t reme_volume_color_slice_get_bytes	(	reme_context_t	c,
		reme_volume_t	v,
		const int	slice,
		const void **	bytes,
		int *	length
	)

Returns the content of a specific slice ("xy-plane") of the color volume as an array of bytes.

Downloads the current content of the slice ("xy-plane") of the color volume to host side. Using in combination with reme_volume_color_slice_set_bytes one can resume a previously started reconstruction as long as the volume parameters (dimensions) match.

The number of slices equals the number of voxels in the z-dimension.

Parameters

c	A valid context object
v	A valid volume object
slice	slice index along z-Dimension
bytes	A mutable pointer that will receive the address of the color volume content.
length	A pointer that will receive the size of the returned array in bytes.

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

reme_error_t reme_volume_set_bytes	(	reme_context_t	c,
		reme_volume_t	v,
		const void *	bytes,
		int	length
	)

Sets the content of the volume to the given array of bytes.

Uploads the given array as volume content to the device side. Using in combination with reme_volume_get_bytes one can resume a previously started reconstruction as long as the volume parameters (dimensions) match.

Parameters

c	A valid context object
v	A valid volume object
bytes	An array of bytes
length	Number of bytes in the array

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

reme_error_t reme_volume_color_set_bytes	(	reme_context_t	c,
		reme_volume_t	v,
		const void *	bytes,
		int	length
	)

Sets the content of the color volume to the given array of bytes.

Uploads the given array as color volume content to the device side. Using in combination with reme_volume_color_get_bytes one can resume a previously started reconstruction as long as the volume parameters (dimensions) match.

Parameters

c	A valid context object
v	A valid volume object
bytes	An array of bytes
length	Number of bytes in the array

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

reme_error_t reme_volume_slice_set_bytes	(	reme_context_t	c,
		reme_volume_t	v,
		const int	slice,
		const void *	bytes,
		int	length
	)

Sets the content of a slice ("xy-plane") of the volume to the given array of bytes.

Uploads the given array as slice ("xy-plane") of the volume content to the device side. Using in combination with reme_volume_slice_get_bytes one can resume a previously started reconstruction as long as the volume parameters (dimensions) match.

The number of slices equals the number of voxels in the z-dimension.

Parameters

c	A valid context object
v	A valid volume object
slice	Slice id along z-Dimension.
bytes	An array of bytes
length	Number of bytes in the array

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_volume.cpp.

reme_error_t reme_volume_color_slice_set_bytes	(	reme_context_t	c,
		reme_volume_t	v,
		const int	slice,
		const void *	bytes,
		int	length
	)

Sets the content of a slice ("xy-plane") of the color volume to the given array of bytes.

Uploads the given array as slice ("xy-plane") of the color volume content to the device side. Using in combination with reme_volume_color_slice_get_bytes one can resume a previously started reconstruction as long as the volume parameters (dimensions) match.

The number of slices equals the number of voxels in the z-dimension.

Parameters

c	A valid context object
v	A valid volume object
slice	slice id along z-Dimension.
bytes	An array of bytes
length	Number of bytes in the array

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

reme_error_t reme_volume_reset	(	reme_context_t	c,
		reme_volume_t	v
	)

Reset the volume to empty state.

Forces the volume to clear its content.

Parameters

c	A valid context object
v	A valid volume object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_scan_tilt.cpp, and example_reconstructmesdk_volume.cpp.