example_reconstructmesdk_bust.cpp

Content

This short example shows how to use ReconstructMe SDK to generate printable busts. It automatically detects when a full camera rotation around the subject is complete and starts post-processing. It post-processes the mesh in a way that the resulting mesh is watertight and directly printable. For this to work, the example makes a couple of assumptions:

• The sensor is placed roughly on eye-level of the person to scan when reconstruction starts
• The sensor is hold horizontally towards the subject (i.e no tilting) when reconstruction starts
• Either the person is doing a full rotation infront of the camera or the camera is moved 360° around the subject. Note that it needs to be a full rotation in one way. Don't go 180° in one direction and then back the other way.

The following 3D modell shows a typical bust result.

Note, for best results you should disable sensor exposure auto-correction. Don't do this immediately when the sensor starts, but rather after a couple of frames.

Boost is only used to generate examples and is not necessary for working with this SDK.

#include <boost/test/unit_test.hpp>
#include <math.h>
#include <string.h>

#include <reconstructmesdk/reme.h>
BOOST_AUTO_TEST_SUITE(example_reconstructmesdk)
BOOST_AUTO_TEST_CASE(bust_generation) {
    // Create a new context
    reme_context_t c;
    reme_context_create(&c);
    reme_context_set_log_callback(c, reme_default_log_callback, 0);

    // Create a license object
    reme_license_t l;
    reme_license_create(c, &l);
    reme_error_t e = reme_license_authenticate(c, l, "license.txt.sgn");

    // Create options
    reme_options_t o;
    reme_options_create(c, &o);

    // Enable colorization
    reme_context_bind_reconstruction_options(c, o);
    reme_options_set_bool(c, o, "data_integration.use_colors", true);

    // Compile for OpenCL device using defaults
    reme_context_tune_reconstruction_options(c, REME_TUNE_PROFILE_MAX_QUALITY);
    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);
    reme_sensor_set_prescan_position(c, s, REME_SENSOR_POSITION_INFRONT);

    // Use color in rendering volume image
    reme_sensor_bind_render_options(c, s, o);
    reme_options_set(c, o, "shade_mode", "SHADE_COLORS");
    reme_sensor_apply_render_options(c, s, o);

    // Create viewer and start reconstruction
    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 one complete rotation is performed
    float prev_pos[16], cur_pos[16];
    float rotation_axis[4] = {0, 0, 1, 0};
    reme_sensor_get_position(c, s, prev_pos);

    float angle;
    float sum_turn_angles = 0.f;
    while (fabs(sum_turn_angles) < 2.f * 3.1415f) {
        if (!REME_SUCCESS(reme_sensor_grab(c, s))) {
            continue;
        }

        reme_sensor_prepare_images(c, s);

        if (REME_SUCCESS(reme_sensor_track_position(c, s))) {
            reme_sensor_update_volume(c, s);

            reme_sensor_get_position(c, s, cur_pos);
            reme_transform_get_projected_angle(c, rotation_axis, prev_pos, cur_pos, &angle);
            sum_turn_angles += angle;
            memcpy(prev_pos, cur_pos, 16 * sizeof(float));
        }

        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);
    }

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

    // Create surface from volume
    reme_surface_t m;
    reme_surface_create(c, &m);
    reme_surface_generate(c, m, v);

    // Remove small unconnected parts
    reme_surface_cleanup(c, m);

    // Fill holes and make mesh watertight
    reme_surface_poisson(c, m);

    // Prepare to cut the bottom of the surface
    reme_csg_t csg;
    reme_csg_create(c, v, &csg);

    // Keep the color volume, but clear the geometric volume.
    reme_volume_reset_selectively(c, v, true, false);

    // Insert the watertight mesh
    reme_csg_update_with_surface(c, csg, REME_SET_UNION, m);

    // Cut with plane at height -300, parallel to xy.
    float cut_plane[4] = {0, 0, 1, -300};
    reme_csg_update_with_planes(c, csg, REME_SET_SUBTRACTION, cut_plane, 1);

    // In case anything is sticking out of the volume (e.g on top), close it now.
    reme_csg_close_volume_borders(c, csg);

    // Generate the final mesh.
    reme_surface_generate(c, m, v);
    reme_surface_colorize_vertices(c, m, v);
    reme_surface_inpaint_vertices(c, m);

    // Since we cut at height -300 according to the world coordinate system, our lowest point of the mesh
    // will be -300. In order to optimize for printing, we'd like to make the lowest coordinate of the mesh to be zero,
    // so that the mesh stands on the printer platform.

    float transform[16];
    reme_transform_set_predefined(c, REME_TRANSFORM_IDENTITY, transform);
    transform[11] = 300; // Move mesh in z up by 300 units.
    reme_surface_transform(c, m, transform);

    // Save mesh
    reme_surface_save_to_file(c, m, "test.obj");

    // 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);

}

BOOST_AUTO_TEST_SUITE_END()