int main(int argc, char** argv) { print_info ("Manually generate a simulated RGB-D point cloud using pcl::simulation. For more information, use: %s -h\n", argv[0]); if (argc < 2){ printHelp (argc, argv); return (-1); } int i; for (i=0; i<2048; i++) { float v = i/2048.0; v = powf(v, 3)* 6; t_gamma[i] = v*6*256; } camera_ = Camera::Ptr(new Camera()); scene_ = Scene::Ptr(new Scene()); range_likelihood_ = RangeLikelihood::Ptr(new RangeLikelihood(1, 1, 480, 640, scene_, 640)); // range_likelihood_ = RangeLikelihood::Ptr(new RangeLikelihood(10, 10, 96, 96, scene_)); //range_likelihood_ = RangeLikelihood::Ptr(new RangeLikelihood(1, 1, 480, 640, scene_)); // Actually corresponds to default parameters: range_likelihood_->set_CameraIntrinsicsParameters(640,480,576.09757860, 576.09757860, 321.06398107, 242.97676897); window_width_ = range_likelihood_->width() * 2; window_height_ = range_likelihood_->height(); glutInit(&argc, argv); glutInitDisplayMode(GLUT_DEPTH | GLUT_DOUBLE | GLUT_RGB);// was GLUT_RGBA glutInitWindowPosition(10,10); glutInitWindowSize(window_width_, window_height_); glutCreateWindow("OpenGL range likelihood"); initialize(argc, argv); glutReshapeFunc(on_reshape); glutDisplayFunc(display); glutIdleFunc(display); glutKeyboardFunc(on_keyboard); glutMouseFunc(on_mouse); glutMotionFunc(on_motion); glutPassiveMotionFunc(on_passive_motion); glutEntryFunc(on_entry); glutMainLoop(); }