adding simulation inferface

git-svn-id: svn+ssh://svn.pointclouds.org/pcl/trunk@7763 a9d63959-f2ad-4865-b262-bf0e56cfafb6

simulation/tools/CMakeLists.txt

@@ -1,23 +1,48 @@
+find_package(GLEW)
+if(GLEW_FOUND)
+  find_package(GLUT)
+  if(GLUT_FOUND)
+    include_directories(${GLUT_INCLUDE_DIR} ${GLEW_INCLUDE_DIR})
+    include_directories(${VTK_INCLUDE_DIRS})
 
-find_package(GLUT)
-if(GLUT_FOUND)
-  include_directories(${GLUT_INCLUDE_DIR} ${GLEW_INCLUDE_DIR})
-  include_directories(${VTK_INCLUDE_DIRS})
+    PCL_ADD_EXECUTABLE(pcl_sim_viewer ${SUBSYS_NAME} sim_viewer.cpp)
+    target_link_libraries (pcl_sim_viewer   
+      ${VTK_IO_TARGET_LINK_LIBRARIES}    pcl_kdtree 
+      pcl_simulation   pcl_common  pcl_io pcl_visualization   
+      ${GLEW_LIBRARIES} ${GLUT_LIBRARIES} ${OPENGL_LIBRARIES} ${GLEW_LIBRARIES})
 
-  PCL_ADD_EXECUTABLE(pcl_sim_viewer ${SUBSYS_NAME} sim_viewer.cpp)
-  target_link_libraries (pcl_sim_viewer   
-      pcl_kdtree pcl_simulation pcl_common pcl_io pcl_visualization
-      ${GLEW_LIBRARIES} ${GLUT_LIBRARIES} ${OPENGL_LIBRARIES})
+    PCL_ADD_EXECUTABLE(pcl_sim_test_simple ${SUBSYS_NAME} sim_test_simple.cpp)
+    target_link_libraries (pcl_sim_test_simple
+      ${VTK_IO_TARGET_LINK_LIBRARIES}   
+      pcl_simulation   pcl_common  pcl_io pcl_visualization 
+      ${GLEW_LIBRARIES} ${GLUT_LIBRARIES} ${OPENGL_LIBRARIES} ${GLEW_LIBRARIES})
 
-  PCL_ADD_EXECUTABLE(pcl_sim_test_simple ${SUBSYS_NAME} sim_test_simple.cpp)
-  target_link_libraries (pcl_sim_test_simple
-      pcl_simulation pcl_common pcl_io pcl_visualization
-      ${GLEW_LIBRARIES} ${GLUT_LIBRARIES} ${OPENGL_LIBRARIES})
+    PCL_ADD_EXECUTABLE(pcl_sim_test_performance ${SUBSYS_NAME} sim_test_performance.cpp)
+    target_link_libraries (pcl_sim_test_performance 
+      ${VTK_IO_TARGET_LINK_LIBRARIES} 
+      pcl_simulation   pcl_common  pcl_io pcl_visualization
+      ${GLEW_LIBRARIES} ${GLUT_LIBRARIES} ${OPENGL_LIBRARIES} ${GLEW_LIBRARIES})
 
-  PCL_ADD_EXECUTABLE(pcl_sim_test_performance ${SUBSYS_NAME} sim_test_performance.cpp)
-  target_link_libraries (pcl_sim_test_performance 
-      pcl_simulation pcl_common pcl_io pcl_visualization
-      ${GLEW_LIBRARIES} ${GLUT_LIBRARIES} ${OPENGL_LIBRARIES})
+    find_package( OpenCV REQUIRED )
+    if(OpenCV_FOUND)
 
-endif(GLUT_FOUND)
+      set(srcs simulation_io.cpp )
+      set(incs simulation_io.hpp )
+      set(LIB_NAME pcl_simulation_io)
+      PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME}
+                    ${srcs} ${incs} ${compression_incs} ${impl_incs}
+                    ${VTK_IO_TARGET_LINK_LIBRARIES} 
+                    ${OPENNI_INCLUDES})
+      target_link_libraries(${LIB_NAME} pcl_simulation pcl_common pcl_io 
+	  ${VTK_IO_TARGET_LINK_LIBRARIES} ${OPENGL_LIBRARIES} ${OpenCV_LIBS})
 
+
+
+      PCL_ADD_EXECUTABLE(pcl_sim_terminal_demo ${SUBSYS_NAME} sim_terminal_demo.cpp)
+      target_link_libraries (pcl_sim_terminal_demo
+	${VTK_IO_TARGET_LINK_LIBRARIES}    
+	pcl_simulation   pcl_common  pcl_io pcl_visualization pcl_simulation_io ${OpenCV_LIBS}
+	${GLEW_LIBRARIES} ${GLUT_LIBRARIES} ${OPENGL_LIBRARIES} ${GLEW_LIBRARIES})
+    endif(OpenCV_FOUND)
+  endif(GLUT_FOUND)
+endif (GLEW_FOUND)

simulation/tools/README_about_tools

@@ -1,23 +1,23 @@
+Test and Example Programs for pcl_simulation
+mfallon and hordurj march 2012
+
 1. sim_viewer.cpp
-purpose: visualize within VTK environment - almost same as PCL viewer
-status : use the mouse to drive around, and 'v' to capture a cloud. reads vtk and obj. visualizes vtk and makes pcd of obj. conflict between RL and VTK means doesnt visualize properly
-range_pcd_viewer.cpp
+purpose: simulate in viewer which is almost the same as pcl_pcd_viewer
+status : use the mouse to drive around, and 'v' to capture a cloud. reads vtk and obj. 
+         visualizes vtk and makes pcd of obj. conflict between RL and VTK means doesnt visualize/simulate properly
+was    : range_pcd_viewer.cpp
 
 2. sim_terminal_demo.cpp
 purpose: simple app to demo speed and api to pcl_simulation
 status : reads obj, make a series of 640x480 simulated point clouds and exits
+depndcy: OpenCV for writing png images
 
 3. sim_test_performance.cpp
-purpose: GLUT/GLEW viewer used by Hordur to test GLSL optimizations
+purpose: GLUT/GLEW viewer used by Hordur to test GLSL optimizations. Creates two different viewing planes
 status : reads obj, creates window, use keyboard to drive around environment
-range_performance_test.cpp
+was    : range_performance_test.cpp
 
 4. sim_test_simple
-purpose: similar code to #3 but only has a single 640x480 window, but operates as #1
+purpose: similar code to #3 but has a 2x2 grid each containing 640x480 windows, but operates as #1. press 'v' to capture a cloud to file (only works properly if 2x2 canged to 1x1)
 status : reads obj, creates window, use keyboard to drive around environment
-range_test_v2.cpp
-
-Dead Versions:
-range_viewer.cpp - certain not useful. Hordur created this as barebones vtk viewer, not useful
-range_viewer_v2.cpp - uses the above, but never really worked properly.
-range_test.cpp - out of date demo program (used old style PointCloudModel)
+was    : range_test_v2.cpp