PointCloudLibrary · mschoeler · Jul 3, 2014
diff --git a/doc/doxygen/doxyfile.in b/doc/doxygen/doxyfile.in
@@ -124,7 +124,6 @@ EXCLUDE                = "@PCL_SOURCE_DIR@/cmake" \
                          "@PCL_SOURCE_DIR@/surface/include/pcl/surface/on_nurbs" \
                          "@PCL_SOURCE_DIR@/surface/include/pcl/surface/openNURBS" \
                          "@PCL_SOURCE_DIR@/surface/include/pcl/surface/impl/nurbs" \
-                         "@PCL_SOURCE_DIR@/simulation" \
                          "@PCL_SOURCE_DIR@/test/gtest-1.6.0"
 EXCLUDE_SYMLINKS       = YES
 EXCLUDE_PATTERNS       = 

diff --git a/examples/simulation/CMakeLists.txt b/examples/simulation/CMakeLists.txt
@@ -0,0 +1,6 @@
+if(BUILD_simulation)
+
+  PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS simulation)
+  PCL_ADD_EXAMPLE(pcl_example_shape_generator FILES example_shape_generator.cpp LINK_WITH pcl_common pcl_simulation pcl_io)
+
+endif(BUILD_simulation)
diff --git a/examples/simulation/example_shape_generator.cpp b/examples/simulation/example_shape_generator.cpp
@@ -0,0 +1,169 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2014-, Open Perception, Inc.
+ *
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above
+ * copyright notice, this list of conditions and the following
+ * disclaimer in the documentation and/or other materials provided
+ * with the distribution.
+ * * Neither the name of the copyright holder(s) nor the names of its
+ * contributors may be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+#include <iostream>
+#include <pcl/simulation/shape_generator.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/console/parse.h>
+
+using namespace pcl::simulation;
+
+int
+main (int argc,
+      char ** argv)
+{
+  pcl::console::print_info (
+  "\n\
+----------------------------------------------------------------------------------\n\
+  This example will create an animal by combining shapes\n\
+  Use the -l parameter to change the labeling of the body parts\n\
+  Syntax: %s options\n\
+  -l [0/1/2]:\n\
+    0 (Single): The object will get a single label\n\
+    1 (Merge): Head and torso of the animal will get a unique label (default)\n\
+    2 (Append): The labels of the head and torso parts keep their unique label\n\n\
+  -d point_density: sample with point_density points per square unit (default: 1000)\n\
+  Check results with pcl_viewer by displaying the label field\n\
+----------------------------------------------------------------------------------\n", argv[0]);
+
+  // depending on the value of label_handler we will create labels for head and torso (part), labels for each part (append) or a single label for the full object (single).
+  MultiShape::LabelHandling label_handler = MultiShape::Merge;
+  float point_density = 1000;
+  if (pcl::console::find_switch (argc, argv, "-l"))
+  {
+    unsigned int label_handling;
+    pcl::console::parse_argument (argc, argv, "-l", label_handling);
+    if (label_handling == 0)
+      label_handler = MultiShape::Single;
+    else if (label_handling == 1)
+      label_handler = MultiShape::Merge;
+    else if (label_handling == 2)
+      label_handler = MultiShape::Append;
+    else
+    {
+      PCL_INFO ("Could not recognize -l argument using Merge (default)\n");
+    }
+  }
+
+  if (pcl::console::find_switch (argc, argv, "-d"))
+    pcl::console::parse_argument (argc, argv, "-d", point_density);
+
+  GeometricShapePtrVector torso_shapes, head_shapes;
+
+  // ----- Add the Torso -------------
+  torso_shapes.push_back (GeometricShapeBase::Ptr (new Cylinder (2, 6)));
+  torso_shapes.back ()->rotate (GeometricShapeBase::ZAxis, 90);
+
+  // Leg 1
+  torso_shapes.push_back (GeometricShapeBase::Ptr (new Cylinder (0.5, 4)));
+  torso_shapes.back ()->translate (-2, -2, -1.5);
+
+  // Leg 2
+  torso_shapes.push_back (GeometricShapeBase::Ptr (new Cylinder (0.5, 4)));
+  torso_shapes.back ()->translate (2, -2, -1.5);
+
+  // Leg 3
+  torso_shapes.push_back (GeometricShapeBase::Ptr (new Cylinder (0.5, 4)));
+  torso_shapes.back ()->translate (-2, -2, 1.5);
+
+  // Leg 4
+  torso_shapes.push_back (GeometricShapeBase::Ptr (new Cylinder (0.5, 4)));
+  torso_shapes.back ()->translate (2, -2, 1.5);
+
+  // Back Spike 1
+  torso_shapes.push_back (GeometricShapeBase::Ptr (new Cone (1, 2)));
+  torso_shapes.back ()->translate (2, 2, 0);
+
+  // Back Spike 2
+  torso_shapes.push_back (GeometricShapeBase::Ptr (new Cone (1, 2)));
+  torso_shapes.back ()->translate (1, 2, 0);
+
+  // Back Spike 3
+  torso_shapes.push_back (GeometricShapeBase::Ptr (new Cone (1, 2)));
+  torso_shapes.back ()->translate (0, 2, 0);
+
+  // Tail
+  torso_shapes.push_back (GeometricShapeBase::Ptr (new Torus (3, 0.3, 0, M_PI / 2.f)));
+  torso_shapes.back ()->translate (5, -0.5, 0);
+  torso_shapes.back ()->rotate (GeometricShapeBase::XAxis, -90);
+  torso_shapes.back ()->rotate (GeometricShapeBase::ZAxis, 40);
+
+  // Add all torso parts to one object
+  // We use Merge because that way we keep separate labels for the parts and can decide later on if we want to keep or merge them
+  // Note: Using Append at this level would not change the results, since it only makes a difference if parts of the multishape contain parts already.
+  GeometricShapeBase::Ptr torso (new MultiShape (torso_shapes, true, MultiShape::Merge));
+
+  // ----- Add the head -------------
+  head_shapes.push_back (GeometricShapeBase::Ptr (new Sphere (1.5)));
+  head_shapes.back ()->translate (-3.2, 2.2, 0);
+
+  // Ear 1
+  head_shapes.push_back (GeometricShapeBase::Ptr (new Torus (1, 0.2)));
+  head_shapes.back ()->translate (0, 1.5, 0.8);
+  head_shapes.back ()->rotate (GeometricShapeBase::XAxis, -80);
+  head_shapes.back ()->translate (-3.2, 2.2, 0);
+
+  // Ear 2
+  head_shapes.push_back (GeometricShapeBase::Ptr (new Torus (1, 0.2)));
+  head_shapes.back ()->translate (0, 1.5, -0.8);
+  head_shapes.back ()->rotate (GeometricShapeBase::XAxis, 80);
+  head_shapes.back ()->translate (-3.2, 2.2, 0);
+
+  // Trunk
+  head_shapes.push_back (GeometricShapeBase::Ptr (new Torus (2, 0.3, 0, M_PI / 3.f)));
+  head_shapes.back ()->translate (-1.4, -2, 0);
+  head_shapes.back ()->rotate (GeometricShapeBase::XAxis, -90);
+  head_shapes.back ()->rotate (GeometricShapeBase::ZAxis, 90);
+  head_shapes.back ()->translate (-3.2, 2.2, 0);
+
+  // Add all head parts to one object
+  // We use Merge because that way we keep separate labels for the parts and can decide later on if we want to keep or merge them
+  // Note: Using Append at this level would not change the results, since it only makes a difference if parts of the multishape contain parts already.
+  GeometricShapeBase::Ptr head (new MultiShape (head_shapes, true, MultiShape::Merge));
+
+  // ------ Add head and torso again to one object, since torso and head consist of several parts label_handler=Merge and label_handler=Append yield different results --------
+  MultiShape::Ptr animal (new MultiShape (torso, head, true, label_handler));
+  PCL_INFO ("Animal generation\n");
+
+  // Generate the points on the shape with a density of point_density points per square unit
+  GeometricShapeBase::PointCloudT::Ptr animal_cloud_ptr = animal->generate (point_density);
+  PCL_INFO ("Animal generation finished\n");
+  PCL_INFO ("Saving pcd file shape_example.pcd\n");
+
+  pcl::io::savePCDFileASCII ("shape_example.pcd", *animal_cloud_ptr);
+  return 0;
+}
diff --git a/simulation/CMakeLists.txt b/simulation/CMakeLists.txt
@@ -7,46 +7,69 @@ find_package(OpenGL)
 find_package(GLEW)
 
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" OFF)
-PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} EXT_DEPS opengl glew)
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} OPT_DEPS opengl glew)
 
 PCL_ADD_DOC("${SUBSYS_NAME}")
-
+
+
 if(build)
-    set(srcs 
-         src/camera.cpp
-         src/model.cpp
-         src/range_likelihood.cpp
-         src/scene.cpp
-         src/glsl_shader.cpp
-         src/sum_reduce.cpp
-        )
-
-    set(incs 
-        "include/pcl/${SUBSYS_NAME}/camera.h"
-        "include/pcl/${SUBSYS_NAME}/model.h"
-        "include/pcl/${SUBSYS_NAME}/range_likelihood.h"
-        "include/pcl/${SUBSYS_NAME}/scene.h"
-        "include/pcl/${SUBSYS_NAME}/glsl_shader.h"
-        "include/pcl/${SUBSYS_NAME}/sum_reduce.h"
-        )
-
-    set(LIB_NAME "pcl_${SUBSYS_NAME}")
-    include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include"
-                        "${GLEW_INCLUDE_DIR}")
-
-    PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs})
-
-    target_link_libraries("${LIB_NAME}" pcl_common pcl_io
-                          ${OPENGL_LIBRARIES} ${GLEW_LIBRARIES})
-
-    set(EXT_DEPS eigen3)
-    PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}"
-                      "${SUBSYS_DEPS}" "${EXT_DEPS}" "" "" "")
-
-    # Install include files
-    PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
-    #PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
-
-    add_subdirectory(tools)
+  # Include the parts dependend on OpenGL and GLEW
+  if(OpenGL_FOUND AND GLEW_FOUND)
+      set(srcs
+          src/camera.cpp
+          src/model.cpp
+          src/range_likelihood.cpp
+          src/scene.cpp
+          src/glsl_shader.cpp
+          src/sum_reduce.cpp
+          )
+
+      set(incs
+          "include/pcl/${SUBSYS_NAME}/camera.h"
+          "include/pcl/${SUBSYS_NAME}/model.h"
+          "include/pcl/${SUBSYS_NAME}/range_likelihood.h"
+          "include/pcl/${SUBSYS_NAME}/scene.h"
+          "include/pcl/${SUBSYS_NAME}/glsl_shader.h"
+          "include/pcl/${SUBSYS_NAME}/sum_reduce.h"          
+          )
+      add_subdirectory(tools)
+      include_directories("${GLEW_INCLUDE_DIR}")
+  else(OpenGL_FOUND AND GLEW_FOUND)
+      set(srcs "")
+      set(incs "")
+      set(OPENGL_LIBRARIES "")
+      set(GLEW_LIBRARIES "")
+  endif(OpenGL_FOUND AND GLEW_FOUND)
+
+  set(gen_srcs
+      src/shape_generator_base.cpp
+      src/shape_generator_shapes.cpp
+      src/shape_generator_complex.cpp
+      src/shape_generator_io.cpp
+      )
+
+  set(gen_incs
+      "include/pcl/${SUBSYS_NAME}/shape_generator_base.h"
+      "include/pcl/${SUBSYS_NAME}/shape_generator_shapes.h"
+      "include/pcl/${SUBSYS_NAME}/shape_generator_complex.h"
+      "include/pcl/${SUBSYS_NAME}/shape_generator_io.h"
+      )
+
+  set(LIB_NAME "pcl_${SUBSYS_NAME}")
+
+  include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+
+  PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${gen_srcs} ${gen_incs})
+
+  target_link_libraries("${LIB_NAME}" pcl_common pcl_io
+                        ${OPENGL_LIBRARIES} ${GLEW_LIBRARIES})
+
+  set(EXT_DEPS eigen3)
+  PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}"
+                    "${SUBSYS_DEPS}" "${EXT_DEPS}" "" "" "")
 
+  # Install include files
+  PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs} ${gen_incs})
+  #PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
+
 endif(build)
diff --git a/simulation/include/pcl/simulation/shape_generator.h b/simulation/include/pcl/simulation/shape_generator.h
@@ -0,0 +1,46 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2014-, Open Perception, Inc.
+ *
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above
+ * copyright notice, this list of conditions and the following
+ * disclaimer in the documentation and/or other materials provided
+ * with the distribution.
+ * * Neither the name of the copyright holder(s) nor the names of its
+ * contributors may be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+#ifndef PCL_SIMULATION_SHAPE_GENERATOR_H_
+#define PCL_SIMULATION_SHAPE_GENERATOR_H_
+
+#include <pcl/simulation/shape_generator_base.h>
+#include <pcl/simulation/shape_generator_shapes.h>
+#include <pcl/simulation/shape_generator_complex.h>
+#include <pcl/simulation/shape_generator_io.h>
+
+#endif // PCL_SIMULATION_SHAPE_GENERATOR_H_