Function write_sim_output

simulation/tools/sim_terminal_demo.cpp:42–87

Output the simulated output to file:

// Output the simulated output to file:
void
write_sim_output(const std::string& fname_root)
{
  pcl::PointCloud<pcl::PointXYZRGB>::Ptr pc_out(new pcl::PointCloud<pcl::PointXYZRGB>);

  // Read Color Buffer from the GPU before creating PointCloud:
  // By default the buffers are not read back from the GPU
  simexample->rl_->getColorBuffer();
  simexample->rl_->getDepthBuffer();
  // Add noise directly to the CPU depth buffer
  simexample->rl_->addNoise();

  // Optional argument to save point cloud in global frame:
  // Save camera relative:
  // simexample->rl_->getPointCloud(pc_out);
  // Save in global frame - applying the camera frame:
  // simexample->rl_->getPointCloud(pc_out,true,simexample->camera_->getPose());
  // Save in local frame
  simexample->rl_->getPointCloud(pc_out, false, simexample->camera_->getPose());
  // TODO: what to do when there are more than one simulated view?

  if (!pc_out->points.empty()) {
    std::cout << pc_out->size() << " points written to file\n";

    pcl::PCDWriter writer;
    // writer.write ( string (fname_root + ".pcd"), *pc_out,	false);  /// ASCII
    writer.writeBinary(std::string(fname_root + ".pcd"), *pc_out);
    // std::cout << "finished writing file\n";
  }
  else {
    std::cout << pc_out->size() << " points in cloud, not written\n";
  }

  // simexample->write_score_image (simexample->rl_->getScoreBuffer (),
  //                               string (fname_root + "_score.png") );
  simexample->write_rgb_image(simexample->rl_->getColorBuffer(),
                              std::string(fname_root + "_rgb.png"));
  simexample->write_depth_image(simexample->rl_->getDepthBuffer(),
                                std::string(fname_root + "_depth.png"));
  // simexample->write_depth_image_uint (simexample->rl_->getDepthBuffer (),
  //                                    string (fname_root + "_depth_uint.png") );

  // Demo interacton with RangeImage:
  pcl::RangeImagePlanar rangeImage;
  simexample->rl_->getRangeImagePlanar(rangeImage);
}

// A 'halo' camera - a circular ring of poses all pointing at a center point
// @param: focus_center: the center points