| 61 | using PointCloudXYZRGBA = pcl::PointCloud<pcl::PointXYZRGBA>; |
| 62 | |
| 63 | void |
| 64 | printHelp (int, char **argv) |
| 65 | { |
| 66 | print_error ("Syntax is: %s input1.pcd input2.pcd input3.pcd (etc.)\n", argv[0]); |
| 67 | print_info (" where options are:\n"); |
| 68 | print_info (" -min_depth z_min = the depth of the near clipping plane\n"); |
| 69 | print_info (" -max_depth z_max = the depth of the far clipping plane\n"); |
| 70 | print_info (" -max_height y_max = the height of the vertical clipping plane\n"); |
| 71 | print_info ("Two new template files will be created for each input file. They will append "); |
| 72 | print_info ("the following suffixes to the original filename:\n"); |
| 73 | print_info (" _template.pcd (A PCD containing segmented points)\n"); |
| 74 | print_info (" _template.sqmmt (A file storing LINEMOD's 'Sparse Quantized Multi-Modal Template' representation)\n"); |
| 75 | |
| 76 | } |
| 77 | |
| 78 | void printElapsedTimeAndNumberOfPoints (double t, int w, int h=1) |
| 79 | { |