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();
}
