example_reconstructmesdk_colorize.cpp

Content

This example shows vertex coloring of surfaces. It uses defaults everywhere and omits error handling.

#include <boost/test/unit_test.hpp>
#include <stdio.h>

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

    // 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);

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

    reme_sensor_bind_camera_options(c, s, o);

    // Ensure AUX stream is aligned with the DEPTH stream
    reme_options_set_bool(c, o, "enable_align_viewpoints", true);

    reme_sensor_open(c, s);
    reme_context_bind_reconstruction_options(c, o);

    // Make sure that we enable color support in the program settings.
    reme_options_set_bool(c, o, "data_integration.use_colors", true);

    // Use the tuning to derive a couple of related settings automatically.
    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);

    // Position sensor outside of volume
    reme_sensor_set_prescan_position(c, s, REME_SENSOR_POSITION_INFRONT);

    reme_sensor_bind_render_options(c, s, o);

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

    // Apply
    reme_sensor_apply_render_options(c, s, o);

    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))) {

        reme_sensor_prepare_images(c, s);

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

        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;
    }

    // Browse volume directly without generating a mesh.
    reme_viewer_t viewer2;
    reme_viewer_create_volume(c, v, s, "This is ReconstructMe SDK", &viewer2);
    reme_viewer_wait(c, viewer2);

    // 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);

    // Colorize surface vertices.
    reme_surface_colorize_vertices(c, m, v);

    // Inpaint vertices with invalid colors.
    reme_surface_inpaint_vertices(c, m);

    // Remesh the surface to generate an isotropic tessellation
    reme_surface_bind_remesh_options(c, m, o);

    // The following properties define the allowed edge length range
    // The tesselation will adhere to these values when splitting/collapsing
    // edges according to local color and geometry change.
    reme_options_set_real(c, o, "minimum_edge_length", 3);
    reme_options_set_real(c, o, "maximum_edge_length", 20);

    // Perform remeshing
    reme_surface_remesh(c, m);

    // Remeshing as decimation might change vertex positions,
    // we should update the color information
    reme_surface_colorize_vertices(c, m, v);
    reme_surface_inpaint_vertices(c, m);

    // Save to file including colored vertices.
    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);

}

BOOST_AUTO_TEST_CASE(convert) {
    reme_context_t c;
    reme_context_create(&c);

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

    reme_surface_t m;
    reme_surface_create(c, &m);
    reme_surface_load_from_file(c, m, "cheind.ply");
    reme_surface_save_to_file(c, m, "cheind.obj");

    // Print pending errors
    reme_context_print_errors(c);
    reme_context_destroy(&c);
}

BOOST_AUTO_TEST_SUITE_END()