C++ camera::Ptr类代码示例

Camera::Ptr AddCamera(kge::Scene& scene, const Rectf& viewport)
{
	GameObject::Ptr gameObject = scene.CreateGameObject().lock();
	Camera::Ptr camera = gameObject->AddComponent<Camera>().lock();
	camera->SetPerspectiveLens(0.05f, 20.0f, Degreesf(90.0f));
	camera->SetViewport(viewport, Rangef(0.0f, 1.0f));
	return camera;
}

void RayTracerController::start()
{
    if (isRunning())
        return;
    Camera::Ptr camera = m_rt.camera();
    if (!camera)
        throw cxx::exception("There is no camera in the raytracer scene");
    m_rt.setProgressCallback([camera, this](float progress, bool, quint64 raysProcessed) {
        QMutexLocker mtlk(&m_mutex);
        emit rayTracerImageUpdated(QPixmap::fromImage((*m_imageProcessor)(camera->canvas()).toImage()));
        emit rayTracerProgress(progress, raysProcessed);
    });
    m_rtThread.start();
}

Camera::Ptr HouScene::loadCamera( QJsonObject &obj )
{
	Camera::Ptr camera = std::make_shared<Camera>();
	math::V2i res(int(obj.value("resx").toDouble()), int(obj.value("resy").toDouble()));
	camera->setRaster( res.x, res.y, float(res.x)/float(res.y) );

	math::M44f translation = math::M44f::TranslationMatrix(obj.value("transform.tx").toDouble(), obj.value("transform.ty").toDouble(), obj.value("transform.tz").toDouble());
	math::M44f rotationX = math::M44f::RotationMatrixX( -math::degToRad(obj.value("transform.rx").toDouble()) );
	math::M44f rotationY = math::M44f::RotationMatrixY( -math::degToRad(obj.value("transform.ry").toDouble()) );
	math::M44f rotationZ = math::M44f::RotationMatrixZ( -math::degToRad(obj.value("transform.rz").toDouble()) );

	camera->setViewToWorld( rotationX*rotationY*rotationZ*translation );
	return camera;
}

void capture (Eigen::Isometry3d pose_in)
{
  // No reference image - but this is kept for compatibility with range_test_v2:
  float* reference = new float[range_likelihood_->getRowHeight() * range_likelihood_->getColWidth()];
  const float* depth_buffer = range_likelihood_->getDepthBuffer();
  // Copy one image from our last as a reference.
  for (int i=0, n=0; i<range_likelihood_->getRowHeight(); ++i)
  {
    for (int j=0; j<range_likelihood_->getColWidth(); ++j)
    {
      reference[n++] = depth_buffer[i*range_likelihood_->getWidth() + j];
    }
  }

  std::vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d> > poses;
  std::vector<float> scores;
  poses.push_back (pose_in);

  range_likelihood_->computeLikelihoods (reference, poses, scores);
  std::cout << "score: ";
  for (size_t i = 0; i<scores.size (); ++i)
  {
    std::cout << " " << scores[i];
  }
  std::cout << std::endl;

  std::cout << "camera: " << camera_->getX ()
       << " " << camera_->getY ()
       << " " << camera_->getZ ()
       << " " << camera_->getRoll ()
       << " " << camera_->getPitch ()
       << " " << camera_->getYaw ()
       << std::endl;
       
  delete [] reference;


  // Benchmark Values for 
  // 27840 triangle faces
  // 13670 vertices
  
  // 45.00Hz: simuation only
  //  1.28Hz: simuation, addNoise?    , getPointCloud, writeASCII
  // 33.33Hz: simuation, getPointCloud
  // 23.81Hz: simuation, getPointCloud, writeBinary
  // 14.28Hz: simuation, addNoise, getPointCloud, writeBinary
  // MODULE        TIME      FRACTION
  // simuation     0.02222   31%
  // addNoise      0.03	     41%
  // getPointCloud 0.008     11%
  // writeBinary   0.012     16%
  // total	   0.07222	

  pcl::PointCloud<pcl::PointXYZRGB>::Ptr pc_out (new pcl::PointCloud<pcl::PointXYZRGB>);
}

void capture (Eigen::Isometry3d pose_in, string point_cloud_fname)
{
  // No reference image - but this is kept for compatability with range_test_v2:
  float* reference = new float[range_likelihood_->getRowHeight() * range_likelihood_->getColWidth()];
  const float* depth_buffer = range_likelihood_->getDepthBuffer();
  // Copy one image from our last as a reference.
  for (int i=0, n=0; i<range_likelihood_->getRowHeight(); ++i)
  {
    for (int j=0; j<range_likelihood_->getColWidth(); ++j)
    {
      reference[n++] = depth_buffer[i*range_likelihood_->getWidth() + j];
    }
  }

  std::vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d> > poses;
  std::vector<float> scores;
  poses.push_back (pose_in);

  range_likelihood_->computeLikelihoods (reference, poses, scores);
  std::cout << "score: ";
  for (size_t i = 0; i<scores.size (); ++i)
  {
    std::cout << " " << scores[i];
  }
  std::cout << std::endl;

  std::cout << "camera: " << camera_->getX ()
       << " " << camera_->getY ()
       << " " << camera_->getZ ()
       << " " << camera_->getRoll ()
       << " " << camera_->getPitch ()
       << " " << camera_->getYaw ()
       << std::endl;
       
  delete [] reference;


  // Benchmark Values for 
  // 27840 triangle faces
  // 13670 vertices
  
  // 45.00Hz: simuation only
  //  1.28Hz: simuation, addNoise?    , getPointCloud, writeASCII
  // 33.33Hz: simuation, getPointCloud
  // 23.81Hz: simuation, getPointCloud, writeBinary
  // 14.28Hz: simuation, addNoise, getPointCloud, writeBinary
  // MODULE        TIME      FRACTION
  // simuation     0.02222   31%
  // addNoise      0.03	     41%
  // getPointCloud 0.008     11%
  // writeBinary   0.012     16%
  // total	   0.07222	

  pcl::PointCloud<pcl::PointXYZRGB>::Ptr pc_out (new pcl::PointCloud<pcl::PointXYZRGB>);
  bool write_cloud = true;
  
  if (write_cloud)
  {
    // Read Color Buffer from the GPU before creating PointCloud:
    // By default the buffers are not read back from the GPU
    range_likelihood_->getColorBuffer ();
    range_likelihood_->getDepthBuffer ();  
    
    // Add noise directly to the CPU depth buffer 
    range_likelihood_->addNoise ();

    // Optional argument to save point cloud in global frame:
    // Save camera relative:
    //range_likelihood_->getPointCloud(pc_out);
    // Save in global frame - applying the camera frame:
    //range_likelihood_->getPointCloud(pc_out,true,camera_->pose());
    // Save in local frame
    range_likelihood_->getPointCloud (pc_out,false,camera_->getPose ());
    // TODO: what to do when there are more than one simulated view?
    std::cout << pc_out->points.size() << " points written to file\n";
   
    pcl::PCDWriter writer;
    //writer.write (point_cloud_fname, *pc_out, false);  /// ASCII
    writer.writeBinary (point_cloud_fname, *pc_out);
    //cout << "finished writing file\n";
  }
  // Disabled all OpenCV stuff for now: dont want the dependency
  /*
  bool demo_other_stuff = false;
  if (demo_other_stuff && write_cloud)
  {
    write_score_image (range_likelihood_->getScoreBuffer ());  
    write_rgb_image (range_likelihood_->getColorBuffer ());  
    write_depth_image (range_likelihood_->getDepthBuffer ());  
    
    // Demo interacton with RangeImage:
    pcl::RangeImagePlanar rangeImage;
    range_likelihood_->getRangeImagePlanar (rangeImage);
 
    // display viewer: (currently seqfaults on exit of viewer)
    if (1==0){
      boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
      viewer = simpleVis(pc_out);
    
      while (!viewer->wasStopped ()){
//.........这里部分代码省略.........

void display ()
{
  float* reference = new float[range_likelihood_->getRowHeight() * range_likelihood_->getColWidth()];
  const float* depth_buffer = range_likelihood_->getDepthBuffer();
  // Copy one image from our last as a reference.
  for (int i=0, n=0; i<range_likelihood_->getRowHeight(); ++i)
  {
    for (int j=0; j<range_likelihood_->getColWidth(); ++j)
    {
      reference[n++] = depth_buffer[i*range_likelihood_->getWidth() + j];
    }
  }

  std::vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d> > poses;
  std::vector<float> scores;
  int n = range_likelihood_->getRows ()*range_likelihood_->getCols ();
  for (int i = 0; i < n; ++i)
  {
    Camera camera(*camera_);
    camera.move(0.0,i*0.02,0.0);
    //camera.move(0.0,i*0.02,0.0);
    poses.push_back (camera.getPose ());
  }
  
  range_likelihood_->computeLikelihoods (reference, poses, scores);
  
  range_likelihood_->computeLikelihoods (reference, poses, scores);
  std::cout << "score: ";
  for (size_t i = 0; i<scores.size (); ++i)
  {
    std::cout << " " << scores[i];
  }
  std::cout << std::endl;

  std::cout << "camera: " << camera_->getX ()
       << " " << camera_->getY ()
       << " " << camera_->getZ ()
       << " " << camera_->getRoll ()
       << " " << camera_->getPitch ()
       << " " << camera_->getYaw ()
       << std::endl;

  delete [] reference;

  glDrawBuffer (GL_BACK);
  glReadBuffer (GL_BACK);

  // Draw the resulting images from the range_likelihood
  glViewport (range_likelihood_->getWidth (), 0, range_likelihood_->getWidth (), range_likelihood_->getHeight ());
  glMatrixMode (GL_PROJECTION);
  glLoadIdentity ();
  glMatrixMode (GL_MODELVIEW);
  glLoadIdentity ();

  // Draw the color image
  glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
  glColorMask (true, true, true, true);
  glDisable (GL_DEPTH_TEST);

  glRasterPos2i (-1,-1);
  glDrawPixels (range_likelihood_->getWidth (), range_likelihood_->getHeight (),
                GL_RGB, GL_UNSIGNED_BYTE, range_likelihood_->getColorBuffer ());

  // Draw the depth image
  glViewport (0, 0, range_likelihood_->getWidth (), range_likelihood_->getHeight ());

  glMatrixMode (GL_PROJECTION);
  glLoadIdentity ();
  glMatrixMode (GL_MODELVIEW);
  glLoadIdentity ();
//  display_depth_image (range_likelihood_->getDepthBuffer ());
  display_depth_image (range_likelihood_->getDepthBuffer (),
                       range_likelihood_->getWidth (), range_likelihood_->getHeight ());
  
  
  // Draw the score image
  glViewport (0, range_likelihood_->getHeight (),
              range_likelihood_->getWidth (), range_likelihood_->getHeight ());
  glMatrixMode (GL_PROJECTION);
  glLoadIdentity ();
  glMatrixMode (GL_MODELVIEW);
  glLoadIdentity ();
  display_score_image (range_likelihood_->getScoreBuffer ());

  glutSwapBuffers ();
  
  if (write_file_)
  {
    range_likelihood_->addNoise ();
    pcl::RangeImagePlanar rangeImage;
    range_likelihood_->getRangeImagePlanar (rangeImage);

    pcl::PointCloud<pcl::PointXYZRGB>::Ptr pc_out (new pcl::PointCloud<pcl::PointXYZRGB>);

    // Optional argument to save point cloud in global frame:
    // Save camera relative:
    //range_likelihood_->getPointCloud(pc_out);
    // Save in global frame - applying the camera frame:
    //range_likelihood_->getPointCloud(pc_out,true,camera_->pose());
    // Save in local frame
//.........这里部分代码省略.........

int main(int argc, char* argv[])
{
	Game game(Graphics::DirectX11, Vector2i(1920, 1080), 60.0f);

	Auto<Graphics> graphics = game.GetGraphics();
	Auto<ResourceManager> resourceManager = game.GetResourceManager();
	Auto<WindowRenderTarget> windowRenderTarget = game.GetWindowRenderTarget();

	Auto<VertexShader> vertexShader;
	Auto<PixelShader> pixelShader;

	Auto<Mesh> meshTest;
	
	Auto<Sampler> linearSampler;
	Auto<Sampler> pointSampler;

	kge::Scene::Ptr scene = game.CreateScene();

	GameObject::Ptr conrellBox = AddObject(scene, "Media/Meshes/CornellBox.obj#Cube", "Media/Materials/CornellBox.json");
	conrellBox->GetTransform()->SetLocalOrientation(Quaternionf(Vector3f(0.0f, 1.0f, 0.0f), Degreesf(180.0f)));

	GameObject::Ptr suzanne = scene->CreateGameObject().lock();
	suzanne->GetTransform()->SetLocalOrientation(Quaternionf(Vector3f(0.0f, 1.0f, 0.0f), Degreesf(225.0f)));
	suzanne->GetTransform()->SetLocalScale(Vector3f(0.6f, 0.6f, 0.6f));
	suzanne->GetTransform()->SetLocalPosition(Vector3f(0.0f, -1.0f, 0.0f));
	suzanne->AddComponent<SpinBehavior>();
	game.GetLuaContext().AddBehaviorScript(resourceManager->LoadResource<LuaScript>("Media/Scripts/Test.lua"));
	game.GetLuaContext().AddBehaviorScript(resourceManager->LoadResource<LuaScript>("Media/Scripts/BaseTest.lua"));
	//suzanne->AddComponent<LuaBehavior>().lock()->SetLuaClassName("Test");

	Renderer::Ref renderer = suzanne->AddComponent<Renderer>();

	scene->GetRenderManager().SetCompositor(
		RenderManager::DefaultCompositor, 
		Auto<Compositor>(new DeferredCompositor(*graphics, *resourceManager))
	);
	
	Camera::Ptr leftEye = AddCamera(*scene, Rectf(0.0f, 0.0f, 1.0f, 1.0f));
	//Camera::Ptr rightEye = AddCamera(*scene, Rectf(0.0f, 0.5f, 1.0f, 0.5f));
	
	GameObject::Ptr cameraObject = scene->CreateGameObject().lock();
	cameraObject->AddComponent<FlyCamera>();

	leftEye->GetGameObject().GetTransform()->SetParent(cameraObject->GetTransform());
	leftEye->GetGameObject().GetTransform()->SetLocalPosition(Vector3f(-0.025f, 0.0f, 0.0f));
	//rightEye->GetGameObject().GetTransform()->SetParent(cameraObject->GetTransform());
	//rightEye->GetGameObject().GetTransform()->SetLocalPosition(Vector3f(0.025f, 0.0f, 0.0f));

	GameObject::Ptr cubeTest = AddObject(scene, "Media/Meshes/Cube.obj#Cube", "Media/Materials/Cube.json");
	cubeTest->GetTransform()->SetLocalScale(Vector3f(0.1f, 0.1f, 0.1f));
	cubeTest->GetTransform()->SetLocalPosition(Vector3f(0.0f, -0.5f, -0.8f));
	SpinBehavior::Ptr cubeSpin = cubeTest->AddComponent<SpinBehavior>().lock();
	cubeSpin->SetAxis(Vector3f(1.0f, 0.0f, 0.0f));

	cubeSpin = cubeTest->AddComponent<SpinBehavior>().lock();
	cubeSpin->SetAxis(Vector3f(0.0f, 1.0f, 0.0f));
	cubeSpin->SetRotationRate(Degreesf(7.0f));

	{
		GameObject::Ptr lightObject = scene->CreateGameObject().lock();
		lightObject->GetTransform()->SetLocalPosition(Vector3f(0.0f, 0.9f, 0.0f));
		PointLight::Ptr pointLight = lightObject->AddComponent<PointLight>().lock();
		pointLight->SetRange(4.0f);
		pointLight->SetColor(Colorf(1.0f, 1.0f, 1.0f));
	}

	for (int i = 1; i <= 5; ++i)
	{
		for (int j = 0; j < 5; ++j) {
			AddEmmisiveSphere(scene, Vector3f(0.4f * i - 1.2f, -0.9f, -0.8f + j * 0.4f), Colorf(0.3f, 0.5f + i * 0.3f, 2.0f - j * 0.3f));
		}
	}

	try
	{
		vertexShader = resourceManager->LoadResource<VertexShader>("Media/Shaders/Bundle/VertexShaderTest.shader");
		pixelShader = resourceManager->LoadResource<PixelShader>("Media/Shaders/Bundle/PixelShaderTest.shader");
		
		meshTest = resourceManager->LoadResource<Mesh>("Media/Meshes/Suzanne.obj#Suzanne");

		SamplerDescription samplerDesc;

		linearSampler = graphics->CreateSampler(samplerDesc);

		samplerDesc.minFilter = InterpolationMode::Point;
		samplerDesc.magFilter = InterpolationMode::Point;
		samplerDesc.mipFilter = InterpolationMode::Point;

		pointSampler = graphics->CreateSampler(samplerDesc);
		
		Material::Ptr suzanneMaterial = resourceManager->LoadResource<Material>("Media/Materials/Suzanne.json");

		Renderer::Ptr rendererPtr = renderer.lock();
		rendererPtr->SetMesh(meshTest);
		rendererPtr->SetMaterial(suzanneMaterial, 0);
		
		RenderTargetConfiguration renderTarget;
		renderTarget.AddRenderTarget(windowRenderTarget);
		leftEye->SetRenderTargets(renderTarget);
		//rightEye->SetRenderTargets(renderTarget);
//.........这里部分代码省略.........

  void
  execute (int argc, char** argv, std::string plyfile)
  {
    PtrStepSz<const unsigned short> depth;
    PtrStepSz<const KinfuTracker::PixelRGB> rgb24;
    int time_ms = 0;
    bool has_image = false;

    // Create simulation environment:
    int width = 640;
    int height = 480;
    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 (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_ = RangeLikelihood::Ptr (new RangeLikelihood (1, 1, height, width, scene_));

    // Actually corresponds to default parameters:
    range_likelihood_->setCameraIntrinsicsParameters (640,480, 576.09757860,
	      576.09757860, 321.06398107, 242.97676897);
    range_likelihood_->setComputeOnCPU (false);
    range_likelihood_->setSumOnCPU (true);
    range_likelihood_->setUseColor (true);  

    camera_->set(0.471703, 1.59862, 3.10937, 0, 0.418879, -12.2129);
    camera_->set_pitch(0.418879); // not sure why this is here:

    cout << "About to read: "<< plyfile << endl;   
    load_PolygonMesh_model (plyfile);  
    
    // Generate a series of poses:
    std::vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d> > poses;
    Eigen::Vector3d focus_center(0,0,1.3);
    //  double halo_r = 4.0;
    double halo_r = 1.5;  
    double halo_dz = 1.5; // was 2;
    // 20 is too quick when adding noise:
    // 50 is ok though
    int n_poses=50;
    int n_pose_stop = 10;
    // above means make a circle of 50 poses, stop after the 10th i.e. 1/5 of a halo ring:
    generate_halo(poses,focus_center,halo_r,halo_dz,n_poses);    
    
    unsigned short * disparity_buf_ = new unsigned short[width*height ];
    const KinfuTracker::PixelRGB* color_buf_;
    const uint8_t* color_buf_uint;
    
    // loop though and create the mesh:
    for (int i = 0; !exit_; ++i)
    { 
      vector<double> tic_toc;
      tic_toc.push_back(getTime());
      double tic_main = getTime();

      Eigen::Vector3d t(poses[i].translation());
      Eigen::Quaterniond r(poses[i].rotation());
      std::stringstream ss;
      ss << t[0]<<", "<<t[1]<<", "<<t[2]<<" | " 
          <<r.w()<<", "<<r.x()<<", "<<r.y()<<", "<<r.z() ;       
      std::cout << i << ": " << ss.str() << " pose_simulatedposition\n";      
      
      capture (poses[i],disparity_buf_, color_buf_uint);//,ss.str());
      color_buf_ = (const KinfuTracker::PixelRGB*) color_buf_uint;
      PtrStepSz<const unsigned short> depth_sim = PtrStepSz<const unsigned short>(height, width, disparity_buf_, 2*width);
      //cout << depth_sim.rows << " by " << depth_sim.cols << " | s: " << depth_sim.step << "\n";
      // RGB-KinFu currently disabled for now - problems with color in KinFu apparently
      // but this constructor might not  be right either: not sure about step size
      integrate_colors_=false;
      PtrStepSz<const KinfuTracker::PixelRGB> rgb24_sim = PtrStepSz<const KinfuTracker::PixelRGB>(height, width, color_buf_, width);
      tic_toc.push_back (getTime ());
//.........这里部分代码省略.........

void display() {
  glViewport(range_likelihood_->width(), 0, range_likelihood_->width(), range_likelihood_->height());
  
  float* reference = new float[range_likelihood_->row_height() * range_likelihood_->col_width()];
  const float* depth_buffer = range_likelihood_->depth_buffer();
  // Copy one image from our last as a reference.
  for (int i=0, n=0; i<range_likelihood_->row_height(); ++i) {
    for (int j=0; j<range_likelihood_->col_width(); ++j) {
      reference[n++] = depth_buffer[i*range_likelihood_->width() + j];
    }
  }

  std::vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d> > poses;
  std::vector<float> scores;
  int n = range_likelihood_->rows()*range_likelihood_->cols();
  for (int i=0; i<n; ++i) { // This is used when there is 
    Camera camera(*camera_);
    camera.move(0.0,0.0,0.0);
    //camera.move(0.0,i*0.02,0.0);
    poses.push_back(camera.pose());
  }
  float* depth_field =NULL;
  bool do_depth_field =false;
  range_likelihood_->compute_likelihoods(reference, poses, scores,depth_field,do_depth_field);
//  range_likelihood_->compute_likelihoods(reference, poses, scores);
  delete [] reference;
  delete [] depth_field;

  std::cout << "score: ";
  for (size_t i=0; i<scores.size(); ++i) {
    std::cout << " " << scores[i];
  }
  std::cout << std::endl;

  // Draw the depth image
  //  glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
  //  glColorMask(true, true, true, true);
  glDisable(GL_DEPTH_TEST);
  glViewport(0, 0, range_likelihood_->width(), range_likelihood_->height());
  //glViewport(0, 0, range_likelihood_->width(), range_likelihood_->height());

  glMatrixMode(GL_PROJECTION);
  glLoadIdentity();
  glMatrixMode(GL_MODELVIEW);
  glLoadIdentity();

  //glRasterPos2i(-1,-1);
  //glDrawPixels(range_likelihood_->width(), range_likelihood_->height(), GL_LUMINANCE, GL_FLOAT, range_likelihood_->depth_buffer());
  display_depth_image(range_likelihood_->depth_buffer());
  glutSwapBuffers();
  
  if (write_file_){
    range_likelihood_->addNoise();
    pcl::RangeImagePlanar rangeImage;
    range_likelihood_->getRangeImagePlanar(rangeImage);

    pcl::PointCloud<pcl::PointXYZRGB>::Ptr pc_out (new pcl::PointCloud<pcl::PointXYZRGB>);

    // Optional argument to save point cloud in global frame:
    // Save camera relative:
    //range_likelihood_->getPointCloud(pc_out);
    // Save in global frame - applying the camera frame:
    //range_likelihood_->getPointCloud(pc_out,true,camera_->pose());

    // Save in local frame
    range_likelihood_->getPointCloud(pc_out,false,camera_->pose());
    // TODO: what to do when there are more than one simulated view?
    
    pcl::PCDWriter writer;
    writer.write ("simulated_range_image.pcd", *pc_out,	false);  
    cout << "finished writing file\n";
    
    pcl::visualization::CloudViewer viewer ("Simple Cloud Viewer");
    viewer.showCloud (pc_out);

    // Problem: vtk and opengl dont seem to play very well together
    // vtk seems to misbehavew after a little while and wont keep the window on the screen

    // method1: kill with [x] - but eventually it crashes:
    //while (!viewer.wasStopped ()){
    //}    
    
    // method2: eventually starts ignoring cin and pops up on screen and closes almost 
    // immediately
    //  cout << "enter 1 to cont\n";
    //  cin >> pause;
    //  viewer.wasStopped ();
    
    // method 3: if you interact with the window with keys, the window is not closed properly
    // TODO: use pcl methods as this time stuff is probably not cross playform
    struct timespec t;
    t.tv_sec = 100;
    //t.tv_nsec = (time_t)(20000000); // short sleep
    t.tv_nsec = (time_t)(0);  // long sleep - normal speed
    nanosleep(&t, NULL);
    write_file_ =0;
  }
}

void on_passive_motion(int x, int y)
{
    if (paused_) return;

    double pitch = -(0.5-(double)y/window_height_)*M_PI; // in window coordinates positive y-axis is down
    double yaw =    (0.5-(double)x/window_width_)*M_PI*2;

    camera_->set_pitch(pitch);
    camera_->set_yaw(yaw);
}

void
initialize (int argc, char** argv)
{
  const GLubyte* version = glGetString (GL_VERSION);
  print_info ("OpenGL Version: %s\n", version);

  // works well for MIT CSAIL model 2nd floor:
  camera_->set (27.4503, 37.383, 4.30908, 0.0, 0.0654498, -2.25802);

  if (argc > 1) loadPolygonMeshModel (argv[1]);
}

void
initialize (int argc, char** argv)
{
  const GLubyte* version = glGetString (GL_VERSION);
  std::cout << "OpenGL Version: " << version << std::endl;

  // works for small files:
  camera_->set(-5.0, 0.0, 1.0, 0.0, 0.0, 0.0);
  pcl::console::print_info("About to read: %s", argv[2]);
  loadPolygonMeshModel (argv[2]);
}

// Handle normal keys
void
on_keyboard (unsigned char key, int x, int y)
{
  double speed = 0.1;

  if (key == 27)
    exit(0);
  else if (key == 'w' || key == 'W')
    camera_->move(speed,0,0);
  else if (key == 's' || key == 'S')
    camera_->move(-speed,0,0);
  else if (key == 'a' || key == 'A')
    camera_->move(0,speed,0);
  else if (key == 'd' || key == 'D')
    camera_->move(0,-speed,0);
  else if (key == 'q' || key == 'Q')
    camera_->move(0,0,speed);
  else if (key == 'z' || key == 'Z')
    camera_->move(0,0,-speed);
  else if (key == 'p' || key == 'P')
    paused_ = !paused_;
  else if (key == 'v' || key == 'V')
    write_file_ = 1;
  
  // Use glutGetModifiers for modifiers
  // GLUT_ACTIVE_SHIFT, GLUT_ACTIVE_CTRL, GLUT_ACTIVE_ALT
}

void
initialize (int argc, char** argv)
{
  const GLubyte* version = glGetString (GL_VERSION);
  std::cout << "OpenGL Version: " << version << std::endl;

  // works well for MIT CSAIL model 3rd floor:
  //camera_->set(4.04454, 44.9377, 1.1, 0.0, 0.0, -2.00352);

  // works well for MIT CSAIL model 2nd floor:
//  camera_->set (27.4503, 37.383, 4.30908, 0.0, 0.0654498, -2.25802);

  // works for small files:
  //camera_->set(-5.0, 0.0, 1.0, 0.0, 0.0, 0.0);
  camera_->set( 1.31762, 0.382931, 1.89533, 0, 0.20944, -9.14989);
  camera_->setPitch(0.20944); // not sure why this is here: 
  //camera_->set(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
  
  cout << "About to read: " << argv[1] << endl;
  load_PolygonMesh_model (argv[1]);
    
  paused_ = false;
}

void initialize(int argc, char** argv)
{
  const GLubyte* version = glGetString(GL_VERSION);
  std::cout << "OpenGL Version: " << version << std::endl;

  // works well for MIT CSAIL model 3rd floor:
//  camera_->set(4.04454, 44.9377, 1.1, 0.0, 0.0, -2.00352);
  // works for small files:
  //camera_->set(-5.0, 0.0, 1.0, 0.0, 0.0, 0.0);
  camera_->set(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
  
  cout << "About to read: " << argv[1] << endl;
  load_PolygonMesh_model(argv[1]);
    
  paused_ = false;
}