simple-capture-sample.cpp

This basic example shows you how to start using a 3D scanner in the SDK.The code below includes all the necessary steps to initialize a device, capture a single frame and store the resulting 3D surface to an OBJ file on the disk.

Note

If you need a comprehensive sample with efficient multithreading and frame registration, consider using scanning-and-process-sample.cpp.

The files required for compiling this sample are packed in the archive.

/********************************************************************
*
*   Project     Artec 3D Scanning SDK Samples
*
*   Purpose:    Simple capture sample
*
*   Copyright:  Artec Group
*
********************************************************************/

#undef NDEBUG

#include <string>
#include <iostream>

#include <artec/sdk/capturing/IScanner.h>
#include <artec/sdk/capturing/IArrayScannerId.h>
#include <artec/sdk/capturing/IFrameProcessor.h>
#include <artec/sdk/capturing/IFrame.h>
#include <artec/sdk/base/BaseSdkDefines.h>
#include <artec/sdk/base/Log.h>
#include <artec/sdk/base/io/ObjIO.h>
#include <artec/sdk/base/IFrameMesh.h>
#include <artec/sdk/base/TArrayRef.h>

namespace asdk {
    using namespace artec::sdk::base;
    using namespace artec::sdk::capturing;
};
using asdk::TRef;
using asdk::TArrayRef;

int main( int argc, char **argv )
{
    // The log verbosity level is set here. It is set to the most
    // verbose value - Trace. If you have any problems working with 
    // our examples, please do not hesitate to send us this extensive 
    // information along with your questions. However, if you feel 
    // comfortable with these Artec Scanning SDK code examples,
    // we suggest you to set this level to asdk::VerboseLevel_Info.
    asdk::setOutputLevel( asdk::VerboseLevel_Trace );

    asdk::ErrorCode ec = asdk::ErrorCode_OK;

    TRef<asdk::IArrayScannerId> scannersList;

    std::wcout << L"Enumerating scanners... ";
    ec = asdk::enumerateScanners( &scannersList );
    if( ec != asdk::ErrorCode_OK )
    {
        std::wcout << L"failed" << std::endl;
        return 1;
    }
    std::wcout << L"done" << std::endl;

    int scanner_count = scannersList->getSize();
    if( scanner_count == 0 )
    {
        std::wcout << L"No scanners found" << std::endl;
        return 3;
    }

    const asdk::ScannerId* idArray = scannersList->getPointer();

    const asdk::ScannerId& defaultScanner = idArray[0]; // just take the first available scanner

    std::wcout 
        << L"Connecting to " << asdk::getScannerTypeName( defaultScanner.type ) 
        << L" scanner " << defaultScanner.serial << L"... "
    ;

    TRef<asdk::IScanner> scanner;
    ec = asdk::createScanner( &scanner, &defaultScanner );

    if( ec != asdk::ErrorCode_OK )
    {
        std::wcout << L"failed" << std::endl;
        return 2;
    }
    std::wcout << L"done" << std::endl;

    std::wcout << L"Capturing frame... ";

    TRef<asdk::IFrame> frame;
    TRef<asdk::IFrameMesh> mesh;

    TRef<asdk::IFrameProcessor> processor;
    ec = scanner->createFrameProcessor( &processor );
    if( ec == asdk::ErrorCode_OK )
    {
        frame = NULL;
        ec = scanner->capture( &frame, true ); // with texture
        if( ec == asdk::ErrorCode_OK )
        {
            mesh = NULL;
            ec = processor->reconstructAndTexturizeMesh( &mesh, frame );
            if( ec == asdk::ErrorCode_OK )
            {
                std::wcout << L"done" << std::endl;
                // save the mesh
                ec = asdk::io::Obj::save( L"frame.obj", mesh ); // save in text format

                // working with normals
                // 1. generate normals
                mesh->calculate( asdk::CM_Normals );

                // 2. get normals array using helper class
                asdk::TArrayPoint3F pointsNormals  = mesh->getPointsNormals();

                // 3. get number of normals
                int normalCount = pointsNormals.size();
                ASDK_UNUSED(normalCount);

                // 4. use normal
                asdk::Point3F point = pointsNormals[0];
                ASDK_UNUSED(point);

                std::wcout << L"Captured mesh saved to disk" << std::endl;
            }
            else
            {
                std::wcout << L"failed" << std::endl;
            }
        }
    }

    scanner = NULL;
    std::wcout << L"Scanner released" << std::endl;

    return 0;
}