Function main

tools/train_linemod_template.cpp:230–310

---[ */

/* ---[ */
int
main (int argc, char** argv)
{
  print_info ("Train one or more linemod templates. For more information, use: %s -h\n", argv[0]);

  // If no arguments are given, print the help text
  if (argc == 1)
  {
    printHelp (argc, argv);
    return (-1);
  }

  // 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.empty ())
  {
    print_error ("Need at least one input PCD file.\n");
    return (-1);
  }

  // Parse the min_depth, max_depth, and max_height parameters
  float min_depth = 0;
  parse_argument (argc, argv, "-min_depth", min_depth);

  float max_depth = std::numeric_limits<float>::max ();
  parse_argument (argc, argv, "-max_depth", max_depth);

  float max_height = std::numeric_limits<float>::max ();
  parse_argument (argc, argv, "-max_height", max_height);

  int error_code = 0;
  bool processed_at_least_one_pcd = false;

  // Segment and create templates for each input file
  for (const int &p_file_index : p_file_indices)
  {
    // Load input file
    const std::string input_filename = argv[p_file_index];
    PointCloudXYZRGBA::Ptr cloud (new PointCloudXYZRGBA);

    if (!loadCloud (input_filename, *cloud))
    {
      error_code = -1;
      std::string warn_msg = "Could not load point cloud from file: " + input_filename + "\n";
      print_warn (warn_msg.c_str ());
      continue;
    }

    if (!cloud->isOrganized())
    {
      std::string warn_msg = "Unorganized point cloud detected. Skipping file " + input_filename + "\n";
      print_warn(warn_msg.c_str());
      continue;
    }
    else
    {
      processed_at_least_one_pcd = true;