Function main

tools/uniform_sampling.cpp:153–198

---[ */

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

  if (argc < 3)
  {
    printHelp (argc, argv);
    return (-1);
  }

  // Parse the command line arguments for .pcd files
  std::vector<int> p_file_indices;
  std::vector<std::string> extension;
  extension.emplace_back(".pcd");
  extension.emplace_back(".ply");
  extension.emplace_back(".vtk");
  p_file_indices = parse_file_extension_argument (argc, argv, extension);

  if (p_file_indices.size () != 2)
  {
    print_error ("Need one input file and one output file to continue.\n");
    return (-1);
  }

  std::string input_filename = argv[p_file_indices[0]];
  std::string output_filename = argv[p_file_indices[1]];

  // Command line parsing
  double radius = default_radius;
  parse_argument (argc, argv, "-radius", radius);
  print_info ("Extracting uniform points with a leaf size of: "); 
  print_value ("%f\n", radius); 

  // Load the first file
  pcl::PCLPointCloud2::Ptr cloud (new pcl::PCLPointCloud2);
  if (!loadCloud (input_filename, *cloud))
    return (-1);

  // Perform the keypoint estimation
  pcl::PCLPointCloud2 output;
  compute (cloud, output, radius);

  // Save into the second file
  saveCloud (output_filename, output);
}