Function main

tools/compute_cloud_error.cpp:188–227

---[ */

/* ---[ */
int
main (int argc, char** argv)
{
//  print_info ("Compute the differences between two point clouds and visualizing them as an output intensity cloud. For more information, use: %s -h\n", argv[0]);

  if (argc < 4)
  {
    printHelp (argc, argv);
    return (-1);
  }

  // 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.size () != 3)
  {
    print_error ("Need two input PCD files and one output PCD file to continue.\n");
    return (-1);
  }

  // Command line parsing
  std::string correspondence_type = default_correspondence_type;
  parse_argument (argc, argv, "-correspondence", correspondence_type);

  // Load the first file
  pcl::PCLPointCloud2::Ptr cloud_source (new pcl::PCLPointCloud2 ());
  if (loadPCDFile (argv[p_file_indices[0]], *cloud_source) != 0)
    return (-1);
  // Load the second file
  pcl::PCLPointCloud2::Ptr cloud_target (new pcl::PCLPointCloud2 ());
  if (loadPCDFile (argv[p_file_indices[1]], *cloud_target) != 0)
    return (-1);

  pcl::PCLPointCloud2 output;
  // Perform the feature estimation
  compute (cloud_source, cloud_target, output, correspondence_type);

  // Output the third file
  savePCDFile (argv[p_file_indices[2]], output);
}