Function main

apps/src/pcd_select_object_plane.cpp:662–705

---[ */

/* ---[ */
int
main(int argc, char** argv)
{
  // Parse the command line arguments for .pcd files
  std::vector<int> p_file_indices;
  p_file_indices = parse_file_extension_argument(argc, argv, ".pcd");
  if (p_file_indices.empty()) {
    print_error("  Need at least an input PCD file (e.g. scene.pcd) to continue!\n\n");
    print_info("Ideally, need an input file, and three output PCD files, e.g., "
               "object.pcd, plane.pcd, rest.pcd\n");
    return -1;
  }

  std::string object_file = "object.pcd";
  std::string plane_file = "plane.pcd";
  if (p_file_indices.size() >= 3)
    plane_file = argv[p_file_indices[2]];
  if (p_file_indices.size() >= 2)
    object_file = argv[p_file_indices[1]];

  PCDReader reader;
  // Test the header
  pcl::PCLPointCloud2 dummy;
  reader.readHeader(argv[p_file_indices[0]], dummy);
  if (dummy.height != 1 && getFieldIndex(dummy, "rgba") != -1) {
    print_highlight("Enabling 2D image viewer mode.\n");
    ObjectSelection<PointXYZRGBA> s;
    if (!s.load(argv[p_file_indices[0]]))
      return -1;
    s.initGUI();
    s.compute();
    s.save(object_file, plane_file);
  }
  else {
    ObjectSelection<PointXYZ> s;
    if (!s.load(argv[p_file_indices[0]]))
      return -1;
    s.initGUI();
    s.compute();
    s.save(object_file, plane_file);
  }

  return 0;
}
/* ]--- */