example_reconstructmesdk_csg.cpp

Content

This is a example shows basic usage of the CSG module for performing boolean set operations on solids.

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

    // Compile for OpenCL device using defaults
    reme_options_set_int(c, o, "volume.minimum_corner.x", -150);
    reme_options_set_int(c, o, "volume.minimum_corner.y", -150);
    reme_options_set_int(c, o, "volume.minimum_corner.z", -60);

    reme_options_set_int(c, o, "volume.maximum_corner.x", 150);
    reme_options_set_int(c, o, "volume.maximum_corner.y", 150);
    reme_options_set_int(c, o, "volume.maximum_corner.z", 60);

    reme_options_set_int(c, o, "volume.resolution.x", 128);
    reme_options_set_int(c, o, "volume.resolution.y", 128);
    reme_options_set_int(c, o, "volume.resolution.z", 128);

    reme_context_tune_reconstruction_options(c, REME_TUNE_PROFILE_MAX_QUALITY);
    reme_context_compile(c);

    // We create an artificial sensor to browse the volume content directly.
    reme_sensor_t s;
    reme_sensor_create(c, "external", false, &s);
    reme_sensor_bind_camera_options(c, s, o);
    reme_options_set_int(c, o, "depth_stream.image_size.width", 640);
    reme_options_set_int(c, o, "depth_stream.image_size.height", 480);
    reme_options_set_int(c, o, "depth_stream.intrinsics.width", 640);
    reme_options_set_int(c, o, "depth_stream.intrinsics.height", 480);
    reme_options_set_real(c, o, "depth_stream.intrinsics.fx", 570);
    reme_options_set_real(c, o, "depth_stream.intrinsics.fy", 570);
    reme_options_set_real(c, o, "depth_stream.intrinsics.cx", 320);
    reme_options_set_real(c, o, "depth_stream.intrinsics.cy", 240);
    reme_sensor_open(c, s);

    // Create a new empty volume
    reme_volume_t v;
    reme_volume_create(c, &v);

    // Create CSG module
    reme_csg_t csg;
    reme_csg_create(c, v, &csg);
    // Surface for rendering the result
    reme_surface_t m;
    reme_surface_create(c, &m);

    float sphere[4] = {0, 0, 0, 50};
    float box[6] = { -100, -100, -20, 100, 100, 20};
    // Union operation
    reme_volume_reset(c, v);
    reme_csg_update_with_boxes(c, csg, REME_SET_UNION, box, 1);
    reme_csg_update_with_spheres(c, csg, REME_SET_UNION, sphere, 1);
    reme_viewer_t viewer_union;
    reme_viewer_create_volume(c, v, s, "This is ReconstructMeSDK - CSG Union", &viewer_union);
    reme_viewer_wait(c, viewer_union);

    // Subtraction operation
    reme_volume_reset(c, v);
    reme_csg_update_with_boxes(c, csg, REME_SET_UNION, box, 1);
    reme_csg_update_with_spheres(c, csg, REME_SET_SUBTRACTION, sphere, 1);
    reme_viewer_t viewer_subtraction;
    reme_viewer_create_volume(c, v, s, "This is ReconstructMeSDK - CSG Subtraction", &viewer_subtraction);
    reme_viewer_wait(c, viewer_subtraction);

    // Intersection operation
    reme_volume_reset(c, v);
    reme_csg_update_with_boxes(c, csg, REME_SET_UNION, box, 1);
    reme_csg_update_with_spheres(c, csg, REME_SET_INTERSECTION, sphere, 1);
    reme_viewer_t viewer_intersection;
    reme_viewer_create_volume(c, v, s, "This is ReconstructMeSDK - CSG Intersection", &viewer_intersection);
    reme_viewer_wait(c, viewer_intersection);

    // Print pending errors
    reme_context_print_errors(c);

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

}

BOOST_AUTO_TEST_SUITE_END()