1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
|
#pragma once
#include <pcl/io/vtk_lib_io.h>
#include <pcl/simulation/camera.h>
#include <pcl/simulation/range_likelihood.h>
#include <pcl/simulation/scene.h>
#include <pcl/memory.h>
#include <pcl/pcl_config.h>
#include <pcl/point_types.h>
#include <GL/glew.h>
#ifdef OPENGL_IS_A_FRAMEWORK
#include <OpenGL/gl.h>
#include <OpenGL/glu.h>
#else
#include <GL/gl.h>
#include <GL/glu.h>
#endif
#ifdef GLUT_IS_A_FRAMEWORK
#include <GLUT/glut.h>
#else
#include <GL/glut.h>
#endif
namespace pcl {
namespace simulation {
class PCL_EXPORTS SimExample {
public:
using Ptr = shared_ptr<SimExample>;
using ConstPtr = shared_ptr<const SimExample>;
SimExample(int argc, char** argv, int height, int width);
void
initializeGL(int argc, char** argv);
Scene::Ptr scene_;
Camera::Ptr camera_;
RangeLikelihood::Ptr rl_;
void
doSim(Eigen::Isometry3d pose_in);
void
write_score_image(const float* score_buffer, std::string fname);
void
write_depth_image(const float* depth_buffer, std::string fname);
void
write_depth_image_uint(const float* depth_buffer, std::string fname);
void
write_rgb_image(const std::uint8_t* rgb_buffer, std::string fname);
private:
std::uint16_t t_gamma[2048];
// of platter, usually 640x480
int height_;
int width_;
};
} // namespace simulation
} // namespace pcl
|
