Function main

simulation/tools/sim_test_simple.cpp:578–656

}

int
main(int argc, char** argv)
{
  int width = 640;
  int height = 480;

  window_width_ = width * 2;
  window_height_ = height * 2;

  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);
  }

  for (int i = 0; i < 2048; i++) {
    float v = i / 2048.0;
    v = powf(v, 3) * 6;
    t_gamma[i] = v * 6 * 256;
  }

  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");

  GLenum err = glewInit();
  if (GLEW_OK != err) {
    std::cerr << "Error: " << glewGetErrorString(err) << std::endl;
    exit(-1);
  }

  std::cout << "Status: Using GLEW " << glewGetString(GLEW_VERSION) << std::endl;

  if (glewIsSupported("GL_VERSION_2_0"))
    std::cout << "OpenGL 2.0 supported" << std::endl;
  else {
    std::cerr << "Error: OpenGL 2.0 not supported" << std::endl;
    exit(1);
  }
  std::cout << "GL_MAX_VIEWPORTS: " << GL_MAX_VIEWPORTS << std::endl;

  camera_ = Camera::Ptr(new Camera());
  scene_ = Scene::Ptr(new Scene());

  // range_likelihood_ = RangeLikelihoodGLSL::Ptr(new RangeLikelihoodGLSL(1, 1, height,
  // width, scene_, 0));

  range_likelihood_ =
      RangeLikelihood::Ptr(new RangeLikelihood(2, 2, height / 2, width / 2, scene_));
  // range_likelihood_ = RangeLikelihood::Ptr(new RangeLikelihood(10, 10, 96, 96,
  // scene_)); range_likelihood_ = RangeLikelihood::Ptr(new RangeLikelihood(1, 1, 480,
  // 640, scene_));