Function main

tools/oni_viewer_simple.cpp:157–205

}

int
main(int argc, char ** argv)
{
  std::string arg;

  unsigned frame_rate = 0;
  if (argc >= 2)
  {
    arg = argv[1];

    if (arg == "--help" || arg == "-h")
    {
      usage(argv);
      return 1;
    }
    
    if (argc >= 3)
    {
      frame_rate = atoi(argv[2]);
    }
  }
  else
  {
    usage (argv);
    return 1;
  }

  pcl::TimeTrigger trigger;
  
  pcl::ONIGrabber grabber (arg, true, frame_rate == 0);
  if (frame_rate != 0)
  {
    trigger.setInterval (1.0 / static_cast<double> (frame_rate));
    trigger.registerCallback ([&] { grabber.start (); });
    trigger.start();
  }
  if (grabber.providesCallback<pcl::ONIGrabber::sig_cb_openni_point_cloud_rgb > () && !pcl::console::find_switch (argc, argv, "-xyz"))
  {
    SimpleONIViewer<pcl::PointXYZRGBA> v(grabber);
    v.run();
  }
  else
  {
    SimpleONIViewer<pcl::PointXYZ> v(grabber);
    v.run();
  }

  return (0);
}