Function main

tools/depth_sense_viewer.cpp:280–334

int
main (int argc, char** argv)
{
  print_info ("Viewer for DepthSense devices (run with --help for more information)\n", argv[0]);

  if (find_switch (argc, argv, "--help") || find_switch (argc, argv, "-h"))
  {
    printHelp (argc, argv);
    return (0);
  }

  if (find_switch (argc, argv, "--list") || find_switch (argc, argv, "-l"))
  {
    printDeviceList ();
    return (0);
  }

  bool xyz_only = find_switch (argc, argv, "--xyz");

  std::string device_id;

  if (argc == 1 ||             // no arguments
     (argc == 2 && xyz_only))  // single argument, and it is --xyz
  {
    device_id = "";
    print_info ("Creating a grabber for the first available device\n");
  }
  else
  {
    device_id = argv[argc - 1];
    print_info ("Creating a grabber for device \"%s\"\n", device_id.c_str ());
  }

  try
  {
    pcl::DepthSenseGrabber grabber (device_id);
    if (xyz_only)
    {
      DepthSenseViewer<pcl::PointXYZ> viewer (grabber);
      viewer.run ();
    }
    else
    {
      DepthSenseViewer<pcl::PointXYZRGBA> viewer (grabber);
      viewer.run ();
    }
  }
  catch (pcl::io::IOException& e)
  {
    print_error ("Failed to create a grabber: %s\n", e.what ());
    return (1);
  }

  return (0);
}