example_reconstructmesdk_sensor_threaded.cpp

Content

This example shows how to use multiple sensors working on separate volumes in parallel. Each thread uses its own context and instantiates the allocates objects.

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

#include <boost/test/unit_test.hpp>
#include <boost/thread.hpp>
#include <iostream>

#include <reconstructmesdk/reme.h>

BOOST_AUTO_TEST_SUITE(example_reconstructmesdk)


void perform_scan(const char *sensor_config_file, bool &quit, boost::barrier &fence) {
    // Create a new context
    reme_context_t c;
    reme_context_create(&c);
    reme_context_compile(c);

    // Create a new volume
    reme_volume_t v;
    reme_volume_create(c, &v);

    // Create a new sensor
    reme_sensor_t sensor;
    reme_sensor_create(c, sensor_config_file, false, &sensor);
    reme_sensor_open(c, sensor);
    reme_sensor_set_prescan_position(c, sensor, REME_SENSOR_POSITION_INFRONT);

    // Viewer
    reme_viewer_t viewer;
    reme_viewer_create_image(c, "This is ReconstructMeSDK", &viewer);

    reme_image_t img;
    reme_image_create(c, &img);
    reme_viewer_add_image(c, viewer, img);

    reme_context_print_errors(c);

    // Initialization done, wait for all threads so the main reconstruction
    // loop starts at the same time.
    fence.wait();

    // Enter main reconstruction loop
    while (!quit && REME_SUCCESS(reme_sensor_grab(c, sensor))) {
        reme_sensor_prepare_images(c, sensor);

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

        reme_sensor_get_image(c, sensor, REME_IMAGE_VOLUME, img);
        reme_viewer_update(c, viewer);
    }

    reme_context_destroy(&c);
}

BOOST_AUTO_TEST_CASE(sensor_threaded) {

    bool quit = false;
    boost::barrier fence(2);

    // Start two reconstruction threads. Note that we've disabled RGB output for both sensors
    // in the sensor configuration files to reduce the bandwidth usage.
    boost::thread_group g;
    g.create_thread(boost::bind(perform_scan, "openni1.txt", boost::ref(quit), boost::ref(fence)));
    g.create_thread(boost::bind(perform_scan, "openni2.txt", boost::ref(quit), boost::ref(fence)));

    std::cout << "Press any key to stop reconstruction" << std::endl;
    std::getchar();

    quit = true;
    g.join_all();

}

BOOST_AUTO_TEST_SUITE_END()