| 61 | using FeatureT = PointCloud<FPFHSignature33>; |
| 62 | |
| 63 | void |
| 64 | printHelp (int, char **argv) |
| 65 | { |
| 66 | print_error ("Syntax is: %s input.pcd output.pcd <options>\n", argv[0]); |
| 67 | print_info (" where options are:\n"); |
| 68 | print_info (" -d = trained features directory \n"); |
| 69 | print_info (" -threshold X = feature threshold (default: "); |
| 70 | print_value ("%f", default_feature_threshold); print_info (")\n"); |
| 71 | print_info (" -normal-search X = Normal radius search (default: "); |
| 72 | print_value ("%f", default_normal_radius_search); print_info (")\n"); |
| 73 | print_info (" -fpfh-search X = FPFH radius search (default: "); |
| 74 | print_value ("%f", default_fpfh_radius_search); print_info (")\n"); |
| 75 | } |
| 76 | |
| 77 | bool |
| 78 | loadTrainedFeatures (std::vector<FeatureT::Ptr> &out, |