Viewing

Provides basic inline viewing capatibilities for debugging purposes. More...

Typedefs
typedef int	reme_viewer_t
	Handle referencing a viewer object. More...
reme_error_t	reme_viewer_create_image (reme_context_t c, const char *title, reme_viewer_t *v)
	Create viewer for viewing multiple images. More...
reme_error_t	reme_viewer_create_surface (reme_context_t c, reme_surface_t s, const char *title, reme_viewer_t *v)
	Create viewer for specific surface. More...
reme_error_t	reme_viewer_create_volume (reme_context_t c, reme_volume_t vol, reme_sensor_t s, const char *title, reme_viewer_t *v)
	Create viewer for specific volume. More...
reme_error_t	reme_viewer_destroy (reme_context_t c, reme_viewer_t *v)
	Destroy a previously created viewer object. More...
reme_error_t	reme_viewer_add_image (reme_context_t c, reme_viewer_t v, reme_image_t i)
	Add image to be displayed. More...
reme_error_t	reme_viewer_update (reme_context_t c, reme_viewer_t v)
	Update viewer content. More...
reme_error_t	reme_viewer_is_closed (reme_context_t c, reme_viewer_t v, bool *closed)
	Test if the viewer is closed. More...
reme_error_t	reme_viewer_wait (reme_context_t c, reme_viewer_t v)
	Update viewer content until the user closes the viewer. More...

Detailed Description

Provides basic inline viewing capatibilities for debugging purposes.

This module provides basic inline viewing capatibilities for debugging purposes. You should not rely on this functionality in production code. It is meant for debugging and rapid prototype purposes. Viewing will lower the performance of the system. See the example below for basic usage

    // Create a new context
    reme_context_t c;
    reme_context_create(&c);
    reme_context_set_log_callback(c, reme_default_log_callback, 0);

    // 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. Tries multiple backends using default
    // sensor configurations, returns the first working one. By default
    // each sensor works on the first volume created.
    reme_sensor_t s;
    reme_sensor_create(c, "librealsense", true, &s);
    reme_sensor_open(c, s);
    reme_sensor_set_prescan_position(c, s, REME_SENSOR_POSITION_INFRONT);

    // 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);

    // Reconstruct until viewer is closed, or grabbing fails. Note that
    // aborting reconstruction just because a single grab failed is not good stlye.
    // You should allow for multiple grab attempts.
    printf("Starting reconstruction. Close the viewer window to stop.\n");
    bool viewer_done = false;
    while (!viewer_done && 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);
        reme_viewer_is_closed(c, viewer, &viewer_done);
    }

    // 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");

    // Visualize resulting surface
    reme_viewer_t viewer_surface;
    reme_viewer_create_surface(c, m, "This is ReconstructMeSDK", &viewer_surface);
    reme_viewer_wait(c, viewer_surface);

    reme_surface_destroy(c, &m);

    // Print pending errors
    reme_context_print_errors(c);

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

Typedef Documentation

reme_viewer_t

typedef int reme_viewer_t

Handle referencing a viewer object.

Basic viewing of sensor and reconstruction outputs is provided through this SDK as an debugging functionality. You should not rely on its presence, as it might get dropped in later versions of this SDK.

Function Documentation

reme_viewer_create_image()

reme_error_t reme_viewer_create_image	(	reme_context_t	c,
		const char *	title,
		reme_viewer_t *	v
	)

Create viewer for viewing multiple images.

Parameters

c	A valid context object
title	Window title
v	A pointer to the resulting viewer object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_bust.cpp, example_reconstructmesdk_calibration.cpp, example_reconstructmesdk_color_tracking.cpp, example_reconstructmesdk_colorize.cpp, example_reconstructmesdk_image.cpp, example_reconstructmesdk_marker.cpp, example_reconstructmesdk_one_minute.cpp, example_reconstructmesdk_point_and_shoot_with_colors.cpp, example_reconstructmesdk_recorder.cpp, example_reconstructmesdk_remote_reconstruction.cpp, example_reconstructmesdk_scan_tilt.cpp, example_reconstructmesdk_sensor.cpp, example_reconstructmesdk_sensor_external.cpp, example_reconstructmesdk_sensor_multi_independent.cpp, example_reconstructmesdk_sensor_printing.cpp, example_reconstructmesdk_sensor_threaded.cpp, example_reconstructmesdk_surface.cpp, and example_reconstructmesdk_volume.cpp.

reme_viewer_create_surface()

reme_error_t reme_viewer_create_surface	(	reme_context_t	c,
		reme_surface_t	s,
		const char *	title,
		reme_viewer_t *	v
	)

Create viewer for specific surface.

In order to work properly this method should be called for a non-empty surface.

Parameters

c	A valid context object
s	A valid surface object
title	Window title
v	A pointer to the resulting viewer object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_bust.cpp, example_reconstructmesdk_colorize.cpp, example_reconstructmesdk_marker.cpp, example_reconstructmesdk_one_minute.cpp, example_reconstructmesdk_point_and_shoot_with_colors.cpp, example_reconstructmesdk_remote_reconstruction.cpp, example_reconstructmesdk_sensor_multi_independent.cpp, and example_reconstructmesdk_surface.cpp.

reme_viewer_create_volume()

reme_error_t reme_viewer_create_volume	(	reme_context_t	c,
		reme_volume_t	vol,
		reme_sensor_t	s,
		const char *	title,
		reme_viewer_t *	v
	)

Create viewer for specific volume.

Directly renders the volume content and allows camera manipulation similar to reme_viewer_create_surface. If colorization is supported, the content is rendered using the recorded colors. Otherwise, the content is rendered using normalmap shading.

On average this viewer requires less memory to render than reme_viewer_create_surface, plus is can be updated in real-time. This allows real-time visualization of volume changes. By using manipulating the camera position the entire volume can be inspected in real-time.

The initial camera position is chosen so that the entire volume (not only its content, but its bounds) is in view. The resolution and the view frustum is defined by the intrinsic parameters delivered by the provided sensor.

Parameters

c	A valid context object
vol	A valid volume object
s	A valid sensor object
title	Window title
v	A pointer to the resulting viewer object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_color_tracking.cpp, example_reconstructmesdk_colorize.cpp, example_reconstructmesdk_csg.cpp, and example_reconstructmesdk_sensor_external.cpp.

reme_viewer_destroy()

reme_error_t reme_viewer_destroy	(	reme_context_t	c,
		reme_viewer_t *	v
	)

Destroy a previously created viewer object.

Parameters

c	A pointer to a valid context object
v	A mutable pointer to a valid viewer handle to destroy

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

reme_viewer_add_image()

reme_error_t reme_viewer_add_image	(	reme_context_t	c,
		reme_viewer_t	v,
		reme_image_t	i
	)

Add image to be displayed.

Parameters

c	A valid context object
v	A valid viewer object
i	A valid image object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_bust.cpp, example_reconstructmesdk_calibration.cpp, example_reconstructmesdk_color_tracking.cpp, example_reconstructmesdk_colorize.cpp, example_reconstructmesdk_image.cpp, example_reconstructmesdk_marker.cpp, example_reconstructmesdk_one_minute.cpp, example_reconstructmesdk_point_and_shoot_with_colors.cpp, example_reconstructmesdk_recorder.cpp, example_reconstructmesdk_remote_reconstruction.cpp, example_reconstructmesdk_scan_tilt.cpp, example_reconstructmesdk_sensor.cpp, example_reconstructmesdk_sensor_external.cpp, example_reconstructmesdk_sensor_multi_independent.cpp, example_reconstructmesdk_sensor_printing.cpp, example_reconstructmesdk_sensor_threaded.cpp, example_reconstructmesdk_surface.cpp, and example_reconstructmesdk_volume.cpp.

reme_viewer_update()

reme_error_t reme_viewer_update	(	reme_context_t	c,
		reme_viewer_t	v
	)

Update viewer content.

Updates the content of the given viewer for a single frame.

Parameters

c	A valid context object
v	A valid viewer object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_bust.cpp, example_reconstructmesdk_calibration.cpp, example_reconstructmesdk_color_tracking.cpp, example_reconstructmesdk_colorize.cpp, example_reconstructmesdk_image.cpp, example_reconstructmesdk_marker.cpp, example_reconstructmesdk_one_minute.cpp, example_reconstructmesdk_point_and_shoot_with_colors.cpp, example_reconstructmesdk_recorder.cpp, example_reconstructmesdk_remote_reconstruction.cpp, example_reconstructmesdk_scan_tilt.cpp, example_reconstructmesdk_sensor.cpp, example_reconstructmesdk_sensor_external.cpp, example_reconstructmesdk_sensor_multi_independent.cpp, example_reconstructmesdk_sensor_printing.cpp, example_reconstructmesdk_sensor_threaded.cpp, example_reconstructmesdk_surface.cpp, and example_reconstructmesdk_volume.cpp.

reme_viewer_is_closed()

reme_error_t reme_viewer_is_closed	(	reme_context_t	c,
		reme_viewer_t	v,
		bool *	closed
	)

Test if the viewer is closed.

Parameters

c	A valid context object
v	A valid viewer object
closed	A pointer to a boolean receiving the closed status

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_color_tracking.cpp, example_reconstructmesdk_one_minute.cpp, example_reconstructmesdk_remote_reconstruction.cpp, and example_reconstructmesdk_sensor_external.cpp.

reme_viewer_wait()

reme_error_t reme_viewer_wait	(	reme_context_t	c,
		reme_viewer_t	v
	)

Update viewer content until the user closes the viewer.

Blocks the calling thread until the user closes the viewer.

Parameters

c	A valid context object
v	A valid viewer object

Return values

REME_ERROR_SUCCESS	On success
REME_ERROR_UNSPECIFIED	On failure

Examples:

example_reconstructmesdk_bust.cpp, example_reconstructmesdk_color_tracking.cpp, example_reconstructmesdk_colorize.cpp, example_reconstructmesdk_csg.cpp, example_reconstructmesdk_marker.cpp, example_reconstructmesdk_one_minute.cpp, example_reconstructmesdk_point_and_shoot_with_colors.cpp, example_reconstructmesdk_remote_reconstruction.cpp, example_reconstructmesdk_sensor.cpp, example_reconstructmesdk_sensor_external.cpp, example_reconstructmesdk_sensor_multi_independent.cpp, and example_reconstructmesdk_surface.cpp.