Function main

tools/virtual_scanner.cpp:109–449

}

int
main (int argc, char** argv)
{
  if (argc < 2)
  {
    PCL_INFO ("Usage %s [options] <model.ply | model.vtk>\n", argv[0]);
    PCL_INFO (" * where options are:\n"
              "         -object_coordinates <0|1> : save the dataset in object coordinates (1) or camera coordinates (0)\n"
              "         -single_view <0|1>        : take a single snapshot (1) or record a lot of camera poses on a view sphere (0)\n"
              "         -view_point <x,y,z>       : set the camera viewpoint from where the acquisition will take place\n"
              "         -target_point <x,y,z>     : the target point that the camera should look at (default: 0, 0, 0)\n"
              "         -organized <0|1>          : create an organized, grid-like point cloud of width x height (1), or keep it unorganized with height = 1 (0)\n"
              "         -scale <double>           : scaling factor to the points XYZ (default 1(m), 1000(mm))\n"
              "         -noise <0|1>              : add gaussian noise (1) or keep the model noiseless (0)\n"
              "         -noise_std <x>            : use X times the standard deviation\n"
              "");
    return (-1);
  }

  // Parse the command line arguments for .vtk or .ply files
  std::vector<int> p_file_indices_vtk = console::parse_file_extension_argument (argc, argv, ".vtk");
  std::vector<int> p_file_indices_ply = console::parse_file_extension_argument (argc, argv, ".ply");
  bool object_coordinates = true;
  console::parse_argument (argc, argv, "-object_coordinates", object_coordinates);
  bool single_view = false;
  console::parse_argument (argc, argv, "-single_view", single_view);
  double vx = 0, vy = 0, vz = 0;
  console::parse_3x_arguments (argc, argv, "-view_point", vx, vy, vz);
  double tx = 0, ty = 0, tz = 0;
  console::parse_3x_arguments (argc, argv, "-target_point", tx, ty, tz);
  int organized = 0;
  console::parse_argument (argc, argv, "-organized", organized);
  double scale = 1;
  console::parse_argument (argc, argv, "-scale", scale);

  if (organized)
    PCL_INFO ("Saving an organized dataset.\n");
  else
    PCL_INFO ("Saving an unorganized dataset.\n");

  vtkSmartPointer<vtkPolyData> data;
  // Loading PLY/VTK file
  if (p_file_indices_ply.empty () && p_file_indices_vtk.empty ())
  {
    PCL_ERROR ("Error: no .PLY or .VTK files given!\n");
    return (-1);
  }

  std::string filename;
  if (!p_file_indices_ply.empty ())
    filename = argv[p_file_indices_ply.at (0)];
  else
    filename = argv[p_file_indices_vtk.at (0)];

  data = loadDataSet (filename.c_str ());

  PCL_INFO ("Loaded model with %d vertices/points.\n", data->GetNumberOfPoints ());