Function main

tools/unary_classifier_segment.cpp:162–218

---[ */

/* ---[ */
int
main (int argc, char** argv)
{
  print_info ("Train unary classifier using FPFH. For more information, use: %s -h\n", argv[0]);

  if (argc < 4)
  {
    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);
  }

  // Load the input file
  CloudT::Ptr cloud (new CloudT);
  if (!loadCloud (argv[p_file_indices[0]], cloud)) 
    return (-1);

  // TODO:: make this as an optional argument ??
  pcl::Indices tmp_indices;
  pcl::removeNaNFromPointCloud (*cloud, *cloud, tmp_indices);
  
  // parse optional input arguments from the command line
  float normal_radius_search = static_cast<float> (default_normal_radius_search);
  float fpfh_radius_search = static_cast<float> (default_fpfh_radius_search);
  float feature_threshold = static_cast<float> (default_feature_threshold);
  std::string dir_name;

  parse_argument (argc, argv, "-d", dir_name);
  parse_argument (argc, argv, "-threshold", feature_threshold);
  parse_argument (argc, argv, "-normal-radius-search", normal_radius_search);
  parse_argument (argc, argv, "-fpfh-radius-search", fpfh_radius_search);


  print_info ("trained feature directory: %s \n", dir_name.c_str ());

  // load the trained features
  std::vector<FeatureT::Ptr> trained_features;
  if (!loadTrainedFeatures (trained_features, dir_name.c_str ()))
    return (-1);

  print_info ("feature_threshold: %f \n", feature_threshold);
  print_info ("normal-radius-search: %f \n", normal_radius_search);
  print_info ("fpfh-radius-search: %f \n\n", fpfh_radius_search);

  CloudLT::Ptr out (new CloudLT);
  compute (cloud, trained_features, out, normal_radius_search, fpfh_radius_search, feature_threshold);

  saveCloud (argv[p_file_indices[1]], out);
}