================== RGB-D Simulation ================== The algorithm simulates a setup of RGB-D cameras that capture meshes in the scene. The setup can either consist of one ore more freely placed cameras or can emulate a setup with sets of cameras mounted to poles that surround the object. .. figure:: Simulation_Example.png :alt: Example of a simulation setup with three poles with two cameras each Example of a simulation setup with three poles with two cameras each Input ===== It takes any number of meshes as input. These meshes can be colored/textured, but do not necessarily have to. Output ====== A point cloud, possibly with colored vertices and/or the respective depth/color images or an RGB-D sequence. Description =========== The algorithm allows the user to specify any number of RGB-D cameras that can be placed freely in the scene or to automatically create a setup of multiple camera poles distributed around the object (an *object* is considered to be a rigid configuration of one or more meshes here). General Controls ---------------- In the controller there are several controls to use: * **Load Pole Config**: Load a configuration file for a given pole setup * **Create Pole Setup**: After specifying a number of poles, the number of cameras per pole, and the distance of the poles from the object the algorithm will automatically create a configuration that distributes the poles with their attached cameras around the object. Those cameras will then appear in the camera list, where their parameters can be fine-tuned (see `Camera Parameters Control`_) and the last added camera will be selected. * **Add Camera**: Adds a single camera with default parameters at the origin and selects it in the camera list (see `Camera Parameters Control`_). * **Remove Camera**: Removes the currently selected camera. Camera Parameters Control ------------------------- Whenever a camera is selected in the camera dropdown menu a control group with camera parameters appears, allowing the user to set the following parameters for the respective camera: * **Width** and **Height**: The resolution of the camera in pixels, separately for depth and color camera. * **Intrinsics**: The `camera intrinsics `_ , separately for depth and color camera. * **Depth to Color T**: A transformation that maps points from the coordinate system of the depth camera to the coordinate system of the color camera. * **T**: A transformation that transforms the virtual sensor in world space. * **Manipulation**: Allows the user to interactively move the virtual sensor around in the 3D view, either by translating or rotating it. Automatically updates *T* while doing so. Animation --------- This will rotate the object 360° around the z-Axis, in steps given by **Angle Step**. Export ------ Adds the resulting selected options to the data view (or annotation view if applicable) and (optionally) exports them to the given target directory (**Output Folder**). If no output folder is given, nothing will be exported.