example_reconstructmesdk_image.cpp

Content

This example shows how to access images generated by sensor objects. Additionally to ReMe it uses OpenCV to display them for the sake of simplicity of this example.

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 <opencv2/opencv.hpp>
#include <stdio.h>

BOOST_AUTO_TEST_SUITE(example_reconstructmesdk)

BOOST_AUTO_TEST_CASE(image) {
    // Create a new context that has default options applied
    reme_context_t c;
    reme_context_create(&c);

    // Create a sensor using a saved data stream
    reme_sensor_t s;
    reme_sensor_create(c, "openni;mskinect;file", true,  &s);
    reme_sensor_open(c, s);

    // Create an image to hold the result
    reme_image_t i;
    reme_image_create(c, &i);

    int width, height, nchans;

    // Viewer for displaying up to 12 images in parallel
    reme_viewer_t v;
    reme_viewer_create_image(c, "Images", &v);
    reme_viewer_add_image(c, v, i);

    int counter = 0;
    while (REME_SUCCESS(reme_sensor_grab(c, s))) {
        // Update internal state of images
        reme_sensor_prepare_image(c, s, REME_IMAGE_AUX);

        // Receive the image into our image handle
        reme_sensor_get_image(c, s, REME_IMAGE_AUX, i);

        if (counter % 30 == 0) {

            // Derive the correct image format
            reme_image_get_info(c, i, &width, &height, &nchans);

            // Save image as PNG

            char buffer[50];
            sprintf(buffer, "image_%i.png", counter);

            reme_image_save_to_file(c, i, buffer);

            printf("Saved image (%ix%i - %i channels) to %s \n", width, height, nchans, buffer);
        }

        // Update the viewer
        reme_viewer_update(c, v);

        counter += 1;
    }

    // Print pending errors
    reme_context_print_errors(c);

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

}

BOOST_AUTO_TEST_CASE(image_external) {
    // Create a new context that has default options applied
    reme_context_t c;
    reme_context_create(&c);

    // Create a sensor using a saved data stream
    reme_sensor_t s;
    reme_sensor_create(c, "openni;mskinect;file", true,  &s);
    reme_sensor_open(c, s);

    // Create an image to hold the result
    reme_image_t i;
    reme_image_create(c, &i);

    const void *data;
    int width, height, length;
    while (REME_SUCCESS(reme_sensor_grab(c, s))) {
        // Update internal state of images
        reme_sensor_prepare_image(c, s, REME_IMAGE_AUX);

        // Receive the image into our image handle
        reme_sensor_get_image(c, s, REME_IMAGE_AUX, i);

        // Receive the pointer to the data
        reme_image_get_bytes(c, i, &data, &length);

        // Derive the correct image format
        reme_image_get_info(c, i, &width, &height);

        // In C++ we could now feed this to OpenCV for visualization
        cv::Mat rgb(height, width, CV_8UC3, (char*)data);
        cv::Mat bgr;
        cv::cvtColor(rgb, bgr, CV_RGB2BGR);
        cv::imshow("RGB", bgr);
        cv::waitKey(10);
    }

    // Print pending errors
    reme_context_print_errors(c);

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

BOOST_AUTO_TEST_SUITE_END()