| 51 | using namespace pcl::console; |
| 52 | |
| 53 | void |
| 54 | printHelp (int, char **argv) |
| 55 | { |
| 56 | print_error ("Syntax is: %s input.pcd output.pcd <options>\n", argv[0]); |
| 57 | print_info (" where options are:\n"); |
| 58 | print_info (" -trans dx,dy,dz = the translation (default: "); |
| 59 | print_value ("%0.1f, %0.1f, %0.1f", 0, 0, 0); print_info (")\n"); |
| 60 | print_info (" -quat x,y,z,w = rotation as quaternion\n"); |
| 61 | print_info (" -axisangle ax,ay,az,theta = rotation in axis-angle form\n"); |
| 62 | print_info (" -scale x,y,z = scale each dimension with these values\n"); |
| 63 | print_info (" -matrix v1,v2,...,v8,v9 = a 3x3 affine transform in column-major order\n"); |
| 64 | print_info (" -matrix v1,v2,...,v15,v16 = a 4x4 transformation matrix in column-major order\n"); |
| 65 | print_info (" Note: If a rotation is not specified, it will default to no rotation.\n"); |
| 66 | print_info (" If redundant or conflicting transforms are specified, then:\n"); |
| 67 | print_info (" -axisangle will override -quat\n"); |
| 68 | print_info (" -matrix (3x3) will take override -axisangle and -quat\n"); |
| 69 | print_info (" -matrix (4x4) will take override all other arguments\n"); |
| 70 | |
| 71 | } |
| 72 | |
| 73 | void |
| 74 | printElapsedTimeAndNumberOfPoints (double t, int w, int h = 1) |