Roux SDK (formerly known as Scandy Core - and still referenced as such in some of our docs)

Welcome to the wonderful world of 3D!

Licensing

You must get a valid SDK and license key to use this repo! To license Scandy Core please contact core@scandy.co

Release Notes:

Forward

Scandy Core is here to make your life easier as a developer who wants to work with 3D data. Scandy Core provides a set of easy-to-use functions for viewing, loading, downloading, editing, and creating 3D files.

Scandy Core is an SDK that allows developers to easily create 3D models, track position in 3D space, and edit 3D models. Scandy Core is currently optimized to run on Android, Mac OS X, and Linux. Scandy Core is written in cross-platform C++ and has many proprietary optimizations that allow it to run on powerful computing platforms like render servers or workstations, and then to gracefully scale down to operate on processor and memory-constrained devices, like smartphones or tablets. Files created with Scandy Core are capable of running on all platforms regardless of where they were created. Scandy Core also exports industry standard 3D files like OBJ, PLY, and STL.

Getting Started

Language bindings

Scandy Core SDK currently supports bindings for:

C++
Objective C

Currently supported but broken:

JavaScript
Java

Upcoming bindings:

Unity
Python
C#

Operating systems

Scandy Core supports the following operating systems:

iOS (minimum iOS version 11.0)
macOS (tested on 10.11, 10.12)
Android (minimum Android version 5.0)
Linux (tested on Ubuntu 14.04, 16.04)

All operating systems must have OpenCL >= v1.1

Upcoming systems:

Linux ARM
Windows

Typical Usage flow

3D scan to file:

Configure you scanning configuration via scandy::core::IScandyCoreConfiguration if desired
Initialize the scanner
Start a preview, so as to visualize what the depth sensor "sees"
Adjust the scan size to fit the size of the scan subject via: scandy::core::IScandyCore::setScanSize
Start the scan
Scan for some period of time. Determined by a button press, timer, API call of some sort, etc..
Stop the scan
Generate a mesh of the scan
Save the mesh to a file

Setup

Scandy Core can be setup in a variety of ways to fit your build target. Scandy Core has been designed to integrate with existing projects, and can be incorporated as a CMake dependency. Please review the included coding samples to determine the best course of action for installation and configuration with your project.

iOS

For using Scandy Core with iOS we highly suggest looking at the README for the ScandyCoreIOSExample

CMake

For using Scandy Core with CMake we highly suggest looking at the README for the ScandyCoreQtExample

Android

For using Scandy Core with Android we highly suggest looking at the README for the ScandyCoreAndroidExample

Important classes & API

For an index of the functions available at your command, please reference Scandy Core's top-level classes:

scandy::core::IScandyCore will be your main tour guide in C++
ScandyCoreManager will be your main tour guide in Objective C

Setting your License

To use the SLAM features in Scandy Core you will need to provide your license to Scandy Core. This is handled differently for the C++, iOS (Objective C), and Android (Java) implementations. You should have a received a foo@bar.com-scandycore-license.txt file when you purchased Scandy Core, we will call this the license key file.

C++

Update const char* scandy_core_license in ScandyCore/include/scandy_license.h to have the contents of your license.

It should look like this when you receive it:

const std::string scandy_core_license {R"CLC(
   {
     "vendor": "Scandy LLC",
     "license": {
       "product": "Scandy Core",
       "version": "1.0",
       "expiry": "never",
       "hostid": "any",
       "customer": "Your name",
       "signature": "super!duper!secret!signature!"
     }
   }
)CLC"};

Paste the contents of your license key file into the scandy_license.h replacing the placeholder. It should look something like this now:

const std::string scandy_core_license {R"CLC(
   {"vendor":"Scandy LLC","license":{"product":"Scandy Core","version":"1.0","expiry":"never","hostid":"any","customer”:”foo@bar.com”,”userdata":"{}","signature":"49EDA410195D11E79D989C63E968CD3E49EDA410195D11E79D989C63E968CD3E49EDA410195D11E79D989C63E968CD3E49EDA410195D11E79D989C63E968CD3E"}}
)CLC"};

Then when you want to use any of the SLAM features in Scandy Core you just set your license by calling setLicense(std::string license)

e.g.:

#include <scandy/core/IScandyCore.h>
#include <scandy_license.h>

using namespace scandy::core;
using namespace std;

int main(int argc, char *argv[]) {
  scandy::core::Status status;

  // Create the ScandyCore instance with a Visualizer window of 400x400
  auto core = IScandyCore::factoryCreate(400,400);
  if(!core) {
    std::cerr << "ERROR creating ScandyCore" << std::endl;
    return (int) scandy::core::Status::EXCEPTION_IN_HANDLER;;
  }

  // We need to set the ScandyCore license to our internal license
  status = core->setLicense(scandy_core_license);
  if(status != Status::SUCCESS) {
    std::cerr << "ERROR could not set license" << std::endl;
    return (int) status;
  }
}

Android

The function call is exactly the same for Android, setLicense(String license), but there is a different paradigm for handling the file. The ScandyCoreAndroidExample shows how to use a license file stored in the asset cache to read the license at runtime.

By following the ScandyCoreAndroidExample, you can update the scandycore_license.json and then read that file in and call ScandyCore.setLicense(license) with the contents of the file.

Examples

Scandy Core comes with the following examples to help you get started:

ScandyCoreCppExamples
ScandyCoreQtExample
ScandyCoreAndroidExample
ScandyCoreReactNativeExample

Features Overview

3D Tracking (SLAM)

Keeping track of where you are in 3D space is one of the most fundamental aspects of a 3D scanning or AR application; accordingly Scandy Core has a powerful SLAM implementation that runs in real-time on a background thread. Scandy Core allows developers to easily receive location updates by simply initializing Scandy Core and turning on tracking.

Checkout these C++ classes:

scandy::utilities::Pose
scandy::utilities::DepthTrackMetadata

Checkout this example for using the onTrackingDidUpdate callback:

ScandyCoreSceneKitExample

3D Scanning

Scandy Core provides a stable, fast, and precise 3D scanning interface. Flexibility is key in 3D scanning, which is why Scandy Core allows you to scan something as small as an action figure and as large as a couch. 3D scanning allows developers to easily create a 3D avatar, bring real world objects into a video game, or take accurate measurements.

Checkout these examples:

ScandyCoreIOSExample
ScandyCoreAndroidExample
ScandyCoreCppExamples

Meshing

The Scandy Core Meshing is capable of generating a high-resolution dense mesh which is perfect for 3D printing or obtaining accurate measurements, or a low-polygon mesh that is suitable for use in games or VR apps. This versatility makes it easy for the developer to start working with a 3D mesh that suits their needs faster. Configuring the ScanResolution prior to startScanning adjusts how high the resolution of the resulting mesh will be.

Use these functions:

Java
- co.scandy.scandycore.ScandyCore::generateMesh()
- co.scandy.scandycore.ScandyCore::saveMesh()
C++
- scandy::core::IScandyCore::generateMesh()
- scandy::core::IScandyCore::saveMesh()

Visualizing

Scandy Core's visualizer instance can be deployed for visualizing scan data at run-time and as a 3D mesh viewer. The best part of the Scandy Core Visualizer is you don't have to configure OpenGL or a 3D viewer library—it just works!

Checkout the visualizer:

iOS: ScandyCoreView
Java: co.scandy.scandycore.ScandyCoreVisualizer
C++: scandy::core::Visualizer

Or some examples:

ScandyCoreSceneKitExample
ScandyCoreAndroidExample
- With Android all you have to do is include the Visualizer in your layout.
ScandyCoreCppExamples
- With C++ all you have to do is auto visualizer = core->createVisualizer(width, height);

Definitions

Term	Definition
SLAM	Denotes simultaneous localization and mapping. See Wikipedia entry re: SLAM.
TSDF	Truncated signed distance function; a voxel representative of a given scan created in memory by Scandy Core; more specifically, `TSDF` stores values used for attempting accurate representation of a volumetric surface. Originally defined in paper "A Volumetric Method for Building Complex Models from Range Images". Also, see Wikipedia entries for signed distance function and on volume rendering.
Mesh	A mesh represents a 3D scene or object in a standardized format such as .OBJ or .PLY. Scandy Core can generate a mesh for any scan taken, and then also save that mesh into a PLY or OBJ format.
IMU	Inertial measurement unit. Data encompassing a host device's specific force and angular orientation is fed into Scandy Core for enhancements in tracking. See Wikipedia entry.

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README.md

README.md

Roux SDK (formerly known as Scandy Core - and still referenced as such in some of our docs)

Licensing

Release Notes:

Table of Contents

Forward

Getting Started

Language bindings

Operating systems

Typical Usage flow

3D scan to file:

Setup

iOS

CMake

Android

Important classes & API

Setting your License

C++

Android

Examples

Features Overview

3D Tracking (SLAM)

3D Scanning

Meshing

Visualizing

Definitions

Files

README.md

Latest commit

History

README.md

File metadata and controls

Roux SDK (formerly known as Scandy Core - and still referenced as such in some of our docs)

Licensing

Release Notes:

Table of Contents

Forward

Getting Started

Language bindings

Operating systems

Typical Usage flow

3D scan to file:

Setup

iOS

CMake

Android

Important classes & API

Setting your License

C++

Android

Examples

Features Overview

3D Tracking (SLAM)

3D Scanning

Meshing

Visualizing

Definitions