example_reconstructmesdk_volume.cpp

Content

This example shows how to save and restore the reconstruction volume.

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 <stdio.h>
#include <stdlib.h>     /* malloc, free, rand */
#include <conio.h>

BOOST_AUTO_TEST_SUITE(example_reconstructmesdk)

BOOST_AUTO_TEST_CASE(volume) {
    puts("Key mapping");
    puts("x: quit scanning");
    puts("r: reset volume to empty state");
    puts("s: save volume to disk");
    puts("l: load volume from disk and resume");
    puts("All keys need to be pressed with the command line in the foreground");

    // 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);

    // Retrieve num_slices
    int num_slices;
    reme_options_t o;
    reme_options_create(c, &o);
    reme_context_bind_reconstruction_options(c, o);
    reme_options_get_int(c, o, "volume.resolution.z", &num_slices);

    // Create a new openni sensor using default intrinsics
    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;
    reme_viewer_create_image(c, "This is ReconstructMeSDK", &viewer);

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

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

    const void *bytes;
    int length;
    void *load_buffer = 0;
    int load_buffer_length = 0;
    bool continue_scanning = true;

    while (continue_scanning && REME_SUCCESS(reme_sensor_grab(c, s))) {

        // Keyboard handling
        if (_kbhit()) {
            char k = _getch();
            switch (k) {

            // Key 'r' resets the volume to empty state
            case 'r': {
                reme_volume_reset(c, v);
                reme_sensor_reset(c, s);
                break;
            }

            // Key 's' saves the volume content to disk
            case 's' : {
                FILE *f = fopen("volume.bin", "wb");
                for (int i = 0; i < num_slices; i++) {
                    reme_volume_slice_get_bytes(c, v, i, &bytes, &length);
                    fwrite(&length, sizeof(int), 1, f);
                    fwrite(bytes, 1, length, f);
                }
                fclose(f);
                break;
            }

            // Key 'l' loads the volume content from disk
            case 'l': {
                FILE *f = fopen("volume.bin", "rb");
                for (int i = 0; i < num_slices; i++) {
                    fread(&length, sizeof(int), 1, f);
                    if (load_buffer_length != length) {
                        if (load_buffer != 0) {
                            free(load_buffer);
                        }
                        load_buffer = malloc(length);
                        load_buffer_length = length;
                    }
                    fread(load_buffer, 1, length, f);
                    reme_volume_slice_set_bytes(c , v, i, load_buffer, length);
                }
                fclose(f);
                if (load_buffer != 0) {
                    free(load_buffer);
                    load_buffer = 0;
                    load_buffer_length = 0;
                }
                reme_sensor_reset(c, s);
                break;
            }

            case 'x': {
                continue_scanning = false;
                break;
            }

            } // end switch
        } // end if kbhit()

        // 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);

        }

        // Update the viewer
        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);

    }

    // Print pending errors
    reme_context_print_errors(c);

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

}

BOOST_AUTO_TEST_SUITE_END()