example_reconstructmesdk_color_tracking.cpp

Content

This example shows how to enable color tracking for robust camera motion estimation.

#include <boost/test/unit_test.hpp>
#include <stdio.h>

#include <reconstructmesdk/reme.h>
BOOST_AUTO_TEST_SUITE(example_reconstructmesdk)
BOOST_AUTO_TEST_CASE(color_tracking) {
    // Create a new context
    reme_context_t c;
    reme_context_create(&c);

    // Create a license object
    reme_license_t l;
    reme_license_create(c, &l);
    reme_error_t e = reme_license_authenticate(c, l, "license.txt.sgn");

    // Create options
    reme_options_t o;
    reme_options_create(c, &o);

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

    // To perform color tracking color and depth streams need to be aligned geomtrically and in time.
    reme_sensor_bind_camera_options(c, s, o);    
    reme_options_set_bool(c, o, "enable_align_viewpoints", true);
    reme_options_set_bool(c, o, "enable_sync_viewpoints", true);
    reme_sensor_open(c, s);

    // A good idea: let the autoexposure ajdust the camera exposure for the first
    // few frames. Then when we start scanning lock-in the exposure.
    reme_options_t ocap;
    reme_options_create(c, &ocap);
    reme_sensor_bind_capture_options(c, s, ocap);
    reme_options_set_real(c, ocap, "exposure_time", 75.f);
    reme_options_set_bool(c, ocap, "auto_exposure", true);
    reme_sensor_apply_capture_options(c, s, ocap);

    // To enable color tracking we need to increase the color weight term to 
    // a value greater than zero. The higher the value to more importance is assigned to
    // matching color terms. 
    reme_context_bind_reconstruction_options(c, o);
    reme_options_set_int(c, o, "camera_tracking.local_search.maximum_iterations", 30);
    reme_options_set_int(c, o, "camera_tracking.local_search.pyramid_levels", 3);
    reme_options_set_real(c, o, "camera_tracking.local_search.color_weight", 0.7f);
    reme_options_set_bool(c, o, "camera_tracking.local_search.skip_finest_pyramid_level", true);

    // Although not needed for color tracking, we enable integration of colors to
    // get a colorized result.
    reme_options_set_bool(c, o, "data_integration.use_colors", true);

    reme_context_tune_reconstruction_options(c, REME_TUNE_PROFILE_MID_QUALITY);
    reme_context_compile(c);
    // Create a new volume
    reme_volume_t v;
    reme_volume_create(c, &v);

    // Position sensor outside of volume
    reme_sensor_set_prescan_position(c, s, REME_SENSOR_POSITION_INFRONT);

    reme_sensor_bind_render_options(c, s, o);
    reme_options_set(c, o, "shade_mode", "SHADE_COLORS");
    reme_sensor_apply_render_options(c, s, o);
    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 viewer is closed. The first 30 frames are
    // skipped as cameras tend to vary the exposure of the color stream drastically
    // on start-up.
    int skip_images = 30;
    bool is_closed = false;
    while (!is_closed && REME_SUCCESS(reme_sensor_grab(c, s))) {
        --skip_images;

        reme_sensor_prepare_images(c, s);    

        if (skip_images == 0) {
            reme_options_set_bool(c, ocap, "auto_exposure", false);
            reme_sensor_apply_capture_options(c, s, ocap);
        }
        else if (skip_images < 0) {
            if (REME_SUCCESS(reme_sensor_track_position(c, s))) {
                reme_sensor_update_volume(c, s);
            }
        }

        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);
        reme_viewer_is_closed(c, viewer, &is_closed);
    }

    // View volume content
    reme_viewer_t viewer2;
    reme_viewer_create_volume(c, v, s, "This is ReconstructMe SDK", &viewer2);
    reme_viewer_wait(c, viewer2);

    // Shutdown
    reme_sensor_close(c, s);
    reme_sensor_destroy(c, &s);
    reme_context_print_errors(c);
    reme_context_destroy(&c);
}

BOOST_AUTO_TEST_SUITE_END()