| 52 | std::string default_correspondence_type = "index"; |
| 53 | |
| 54 | void |
| 55 | printHelp (int, char **argv) |
| 56 | { |
| 57 | print_error ("Syntax is: %s source.pcd target.pcd output_intensity.pcd <options>\n", argv[0]); |
| 58 | print_info (" where options are:\n"); |
| 59 | print_info (" -correspondence X = the way of selecting the corresponding pair in the target cloud for the current point in the source cloud\n"); |
| 60 | print_info (" options are: index = points with identical indices are paired together. Note: both clouds need to have the same number of points\n"); |
| 61 | print_info (" nn = source point is paired with its nearest neighbor in the target cloud\n"); |
| 62 | print_info (" nnplane = source point is paired with its projection on the plane determined by the nearest neighbor in the target cloud. Note: target cloud needs to contain normals\n"); |
| 63 | print_info (" (default: "); |
| 64 | print_value ("%s", default_correspondence_type.c_str ()); print_info (")\n"); |
| 65 | } |
| 66 | |
| 67 | void |
| 68 | compute (const pcl::PCLPointCloud2::ConstPtr &cloud_source, const pcl::PCLPointCloud2::ConstPtr &cloud_target, |