| 59 | using FeatureT = PointCloud<FPFHSignature33>; |
| 60 | |
| 61 | void |
| 62 | printHelp (int, char **argv) |
| 63 | { |
| 64 | print_error ("Syntax is: %s input.pcd output.pcd <options>\n", argv[0]); |
| 65 | print_info (" where options are:\n"); |
| 66 | print_info (" -label = point cloud with labeled objects \n"); |
| 67 | print_info (" -k X = k-means cluster size (default: "); |
| 68 | print_value ("%d", static_cast<int> (default_cluster_size)); print_info (")\n"); |
| 69 | print_info (" -normal-search X = Normal radius search (default: "); |
| 70 | print_value ("%f", default_normal_radius_search); print_info (")\n"); |
| 71 | print_info (" -fpfh-search X = FPFH radius search (default: "); |
| 72 | print_value ("%f", default_fpfh_radius_search); print_info (")\n"); |
| 73 | } |
| 74 | |
| 75 | bool |
| 76 | loadCloud (const std::string &filename, CloudT::Ptr &cloud) |