Function main

tools/png2pcd.cpp:126–786

---[ */

/* ---[ */
int
main (int argc, char** argv)
{
  print_info ("Convert a (or two with color and depth) PNG file to PCD format. For more information, use: %s -h\n", argv[0]);

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

  // Parse the command line arguments for .vtk and .ply files
  std::vector<int> png_file_indices = parse_file_extension_argument (argc, argv, ".png");
  std::vector<int> pcd_file_indices = parse_file_extension_argument (argc, argv, ".pcd");

  if ((png_file_indices.size () != 1 && png_file_indices.size () != 2) || pcd_file_indices.size () != 1)
  {
    print_error ("Need one/two input PNG file and one output PCD file.\n");
    return (-1);
  }

  // Command line parsing
  bool format = false;
  parse_argument (argc, argv, "-format", format);
  print_info ("PCD output format: "); print_value ("%s\n", (format ? "binary" : "ascii"));

  std::string mode = "DEFAULT";
  if (parse_argument (argc, argv, "-mode", mode) != -1)
  {
    if (! (mode == "DEFAULT" || mode == "FORCE_COLOR" || mode == "FORCE_GRAYSCALE") )
    {
      std::cout << "Wrong mode name.\n";
      printHelp (argc, argv);
      exit (-1);
    }
  }

  print_info ("%s mode selected.\n", mode.c_str ());

  // Load the color input file
  vtkSmartPointer<vtkImageData> color_image_data;
  vtkSmartPointer<vtkPNGReader> color_reader = vtkSmartPointer<vtkPNGReader>::New ();
  color_reader->SetFileName (argv[png_file_indices[0]]);
  color_reader->Update ();
  color_image_data = color_reader->GetOutput ();

  int components = color_image_data->GetNumberOfScalarComponents ();
  int dimensions[3];
  color_image_data->GetDimensions (dimensions);

  // Load the depth input file
  vtkSmartPointer<vtkImageData> depth_image_data;
  vtkSmartPointer<vtkPNGReader> depth_reader;
  bool enable_depth = false;
  float v_viewing_angle = 43.0f;
  float h_viewing_angle = 57.0f;
  float depth_unit_magic = 1000.0f;
  if (png_file_indices.size () == 2)