| 65 | using namespace pcl::console; |
| 66 | |
| 67 | void |
| 68 | printHelp (int, char **argv) |
| 69 | { |
| 70 | std::cout << std::endl; |
| 71 | std::cout << "***************************************************************************" << std::endl; |
| 72 | std::cout << "* *" << std::endl; |
| 73 | std::cout << "* PNG 2 PCD CONVERTER - Usage Guide *" << std::endl; |
| 74 | std::cout << "* *" << std::endl; |
| 75 | std::cout << "***************************************************************************" << std::endl << std::endl; |
| 76 | std::cout << "Usage: " << argv[0] << " [Options] color.png [depth.png] output.pcd" << std::endl << std::endl; |
| 77 | std::cout << "Options:" << std::endl; |
| 78 | std::cout << " -h: Show this help." << std::endl; |
| 79 | std::cout << " -format 0 | 1: Set the format of the output pcd file." << std::endl; |
| 80 | std::cout << " -mode DEFAULT | FORCE_COLOR | FORCE_GRAYSCALE: Set the working mode of the converter." << std::endl; |
| 81 | std::cout << " --intensity_type: FLOAT | UINT_8 Set the desired intensity type" << std::endl; |
| 82 | std::cout << " FLOAT is always used when depth input file is valid." << std::endl; |
| 83 | std::cout << " --v_viewing_angle angle Set vertical viewing angle of 3D camera." << std::endl; |
| 84 | std::cout << " Default value is 43 (for Kinect device)." << std::endl; |
| 85 | std::cout << " This option is only used when depth input file is valid." << std::endl; |
| 86 | std::cout << " --h_viewing_angle angle Set horizontal viewing angle of 3D camera." << std::endl; |
| 87 | std::cout << " Default value is 57 (for Kinect device)." << std::endl; |
| 88 | std::cout << " This option is only used when depth input file is valid." << std::endl; |
| 89 | std::cout << " --depth_unit mm | m Set unit of depth values in depth.png (default is mm)." << std::endl; |
| 90 | } |
| 91 | |
| 92 | template<typename PointInT> void |
| 93 | saveCloud (const std::string &filename, const PointCloud<PointInT> &cloud, bool format) |