example_reconstructmesdk_sensor_printing.cpp

Content

Shows how to place the volume centered around the world coordinate origin and how to replace the initial sensor position using some extrinsic knowledge.

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(sensor_printing) {
    // Create a new context
    reme_context_t c;
    reme_context_create(&c);

    // 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);

    reme_options_set_int(c, o, "volume.minimum_corner.x", -500);
    reme_options_set_int(c, o, "volume.minimum_corner.y", -500);
    reme_options_set_int(c, o, "volume.minimum_corner.z", 0);

    reme_options_set_int(c, o, "volume.maximum_corner.x", 500);
    reme_options_set_int(c, o, "volume.maximum_corner.y", 500);
    reme_options_set_int(c, o, "volume.maximum_corner.z", 1000);

    reme_context_tune_reconstruction_options(c, REME_TUNE_PROFILE_MID_QUALITY);

    // Compile for OpenCL device using defaults
    reme_context_compile(c);

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

    // Specify eye, ref and up with respect to world
    const float eye[3] = {0.f, -1000.f,  500.f};
    const float ref[3] = {0.f,     0.f,  500.f};
    const float up[3]  = {0.f,     0.f,    1.f};

    // Create sensor coordinate system with respect to world
    float mat[16];
    reme_transform_look_at(c, eye, ref, up, mat);

    // Set initial sensor position
    reme_sensor_set_position(c, s, mat);
    // We set the same position first recovery position
    reme_sensor_set_recovery_position(c, s, mat);

    //                    x     y     z    origin
    float mat2[4][4] = {{1.f,  0.f,  0.f,     0.f},
        {0.f,  0.f,  1.f, -1000.f},
        {0.f, -1.f,  0.f,   500.f},
        {0.f,  0.f,  0.f,     1.f}
    };

    reme_sensor_set_position(c, s, &mat2[0][0]);
    reme_sensor_set_recovery_position(c, s, &mat2[0][0]);
    // For debugging purposes open a viewer for tracking the reconstruction process.
    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 no more frames are left
    int time = 0;
    while (time < 200 && REME_SUCCESS(reme_sensor_grab(c, s))) {

        // Prepare image and depth data
        reme_sensor_prepare_images(c, s);

        // Try to determine updated sensor position.
        // On succes, update volume, otherwise move to a recovery position
        // and wait for the tracking to start again.
        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_AUX, aux);
        reme_sensor_get_image(c, s, REME_IMAGE_VOLUME, volume);
        reme_viewer_update(c, viewer);
        time += 1;
    }

    // Close and destroy the sensor, it is not needed anymore
    reme_sensor_close(c, s);
    reme_sensor_destroy(c, &s);

    // Create a new surface
    reme_surface_t m;
    reme_surface_create(c, &m);
    reme_surface_generate(c, m, v);
    reme_surface_save_to_file(c, m, "test.ply");
    reme_surface_destroy(c, &m);

    // Print pending errors
    reme_context_print_errors(c);

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

BOOST_AUTO_TEST_SUITE_END()