Function main

tools/grid_min.cpp:144–220

---[ */

/* ---[ */
int
main (int argc, char** argv)
{
  print_info ("Filter a point cloud using the pcl::GridMinimum filter. For more information, use: %s -h\n", argv[0]);

  if (argc < 3)
  {
    printHelp (argc, argv);
    return (-1);
  }

  bool batch_mode = false;

  // Command line parsing
  float resolution = default_resolution;
  parse_argument (argc, argv, "-resolution", resolution);
  std::string input_dir, output_dir;
  if (parse_argument (argc, argv, "-input_dir", input_dir) != -1)
  {
    PCL_INFO ("Input directory given as %s. Batch process mode on.\n", input_dir.c_str ());
    if (parse_argument (argc, argv, "-output_dir", output_dir) == -1)
    {
      PCL_ERROR ("Need an output directory! Please use -output_dir to continue.\n");
      return (-1);
    }

    // Both input dir and output dir given, switch into batch processing mode
    batch_mode = true;
  }

  if (!batch_mode)
  {
    // 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 () != 2)
    {
      print_error ("Need one input PCD file and one output PCD file to continue.\n");
      return (-1);
    }

    // Load the first file
    Cloud::Ptr cloud (new Cloud);
    if (!loadCloud (argv[p_file_indices[0]], *cloud))
      return (-1);

    // Perform the feature estimation
    Cloud output;
    compute (cloud, output, resolution);

    // Save into the second file
    saveCloud (argv[p_file_indices[1]], output);
  }
  else
  {
    if (!input_dir.empty() && pcl_fs::exists (input_dir))
    {
      std::vector<std::string> pcd_files;