add sample for getting image and pointcloud from camera sensor

Author: YoheiKakiuchi

irteus/demo/sample-camera-model.l

@@ -0,0 +1,36 @@
+;; create camera and camera viewer
+(setq *camera-model*
+      (make-camera-from-param :pwidth 640 :pheight 360
+                              :fx 400 :fy 400
+                              :cx 319.5 :cy 179.5 :name "camtest"
+                              :create-viewer t))
+;; move camera
+(send *camera-model* :translate #f(0 100 0) :world)
+(send *camera-model* :rotate 0.25 :x :world)
+
+;; make objects
+(setq *obj1* (make-cube 100 100 100))
+(send *obj1* :translate #f(-50 0 235))
+(send *obj1* :set-color #f(0 0 1))
+(setq *obj2* (make-cube 100 100 100))
+(send *obj2* :translate #f(50 0 265))
+(send *obj2* :set-color #f(1 0 0))
+(setq *obj3* (make-cube 100 100 100))
+(send *obj3* :translate #f(0 100 250))
+(send *obj3* :set-color #f(0 1 0))
+(objects (list *obj1* *obj2* *obj3* *camera-model*))
+
+
+;; draw objects on camera viewer
+(send *camera-model* :draw-objects (list *obj1* *obj2* *obj3*))
+
+;; get image and point cloud
+(let ((ret (send *camera-model* :get-image :with-points t :with-colors t)))
+  (setq *image* (car ret))
+  (setq *points* (cdr ret))
+  )
+
+;; transform origin of point cloud
+(send *points* :transform (send *camera-model* :worldcoords))
+
+(objects (list *points* *camera-model*))