Function main

tools/transform_point_cloud.cpp:253–359

---[ */

/* ---[ */
int
main (int argc, char** argv)
{
  print_info ("Transform a cloud. For more information, use: %s -h\n", argv[0]);

  bool help = false;
  parse_argument (argc, argv, "-h", help);
  if (argc < 3 || help)
  {
    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.size () != 2)
  {
    print_error ("Need one input PCD file and one output PCD file to continue.\n");
    return (-1);
  }

  // Initialize the transformation matrix
  Eigen::Matrix4f tform; 
  tform.setIdentity ();

  // Command line parsing
  float dx, dy, dz;
  std::vector<float> values;

  if (parse_3x_arguments (argc, argv, "-trans", dx, dy, dz) > -1)
  {
    tform (0, 3) = dx;
    tform (1, 3) = dy;
    tform (2, 3) = dz;
  }

  if (parse_x_arguments (argc, argv, "-quat", values) > -1)
  {
    if (values.size () == 4)
    {
      const float& x = values[0];
      const float& y = values[1];
      const float& z = values[2];
      const float& w = values[3];
      tform.topLeftCorner<3, 3> () = Eigen::Matrix3f (Eigen::Quaternionf (w, x, y, z));
    }
    else
    {
      print_error ("Wrong number of values given (%lu): ", values.size ());
      print_error ("The quaternion specified with -quat must contain 4 elements (w,x,y,z).\n");
    }
  }

  if (parse_x_arguments (argc, argv, "-axisangle", values) > -1)
  {
    if (values.size () == 4)
    {