example_reconstructmesdk_surface.cpp

Content

This example shows how use the surface generation module.

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(surface) {
    // This example shows how use the surface generation module.

    // 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);

    // Create a new sensor using a stream from disk
    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_live;
    reme_viewer_create_image(c, "This is ReconstructMe SDK", &viewer_live);

    reme_image_t imgs[2];
    reme_image_create(c, &imgs[0]);
    reme_image_create(c, &imgs[1]);

    reme_viewer_add_image(c, viewer_live, imgs[0]);
    reme_viewer_add_image(c, viewer_live, imgs[1]);

    // Perform reconstruction until no more frames are left
    int count = 0;
    while (count < 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 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);

        }

        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_live);
        ++count;
    }

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

    // Create a new empty surface
    reme_surface_t m;
    reme_surface_create(c, &m);

    // We use an options object to control various aspects of the generation process
    reme_options_t o;
    reme_options_create(c, &o);

    // Bind the options that define how the basic surface is extracted from the volume.
    reme_surface_bind_generation_options(c, m, o);

    // We disable merging of close vertices at this stage because the data is directly
    // passed into poisson reconstruction which deals with duplicate vertices anyway
    reme_options_set_bool(c, o, "merge_duplicate_vertices", false);

    // Extract surface from volume.
    reme_surface_generate(c, m, v);

    // Close holes through Poisson reconstruction
    reme_surface_bind_poisson_options(c, m, o);
    reme_options_set_int(c, o, "depth", 8);
    reme_surface_poisson(c, m);

    // Reduce mesh down to 20k triangles
    reme_surface_bind_decimation_options(c, m, o);
    reme_options_set_int(c, o, "maximum_faces", 20000);
    reme_surface_decimate(c, m);

    // View the result and wait until the user closes the viewer
    reme_viewer_t viewer;
    reme_viewer_create_surface(c, m, "This is ReconstructMeSDK", &viewer);
    reme_viewer_wait(c, viewer);

    // Export mesh
    reme_surface_save_to_file(c, m, "test.ply");

    // Print pending errors
    reme_context_print_errors(c);

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

}

BOOST_AUTO_TEST_SUITE_END()