int main(int argc, char** argv) {
/* Step 0 */
if (!cmd_arguments.ParseCommandLineArgument(argc, argv))
return -1;
/* Step 1 */
std::cout << "Load pcd file ...\n";
pcl::io::loadPCDFile(cmd_arguments.raw_pcd_, *cloud);
std::cout << "Before resample, #points = " << cloud->points.size() << std::endl;
std::cout << "Resample ...\n";
pcl::PointCloud<pcl::PointXYZ>::Ptr sample(new pcl::PointCloud<pcl::PointXYZ>);
// create the filtering object
pcl::VoxelGrid<pcl::PointXYZ> grid;
grid.setInputCloud(cloud);
//grid.setLeafSize(size_x, size_y, size_z);
grid.setLeafSize(cmd_arguments.resample_resolution_[0],cmd_arguments.resample_resolution_[1],
cmd_arguments.resample_resolution_[2]);
grid.filter(*sample);
/* Step 2 */
std::cout << "After resample, #points = " << sample->points.size() << std::endl;
std::cout << "Saving ...\n";
pcl::io::savePCDFile(cmd_arguments.raw_pcd_, *sample);
return 0;
}
int main (int argc, char** argv)
{
/* Step 0 */
if (!cmd_arguments.ParseCommandLineArgument(argc, argv))
return -1;
/* Step 1 */
cout << "\n=========== Load raw building point cloud ... ==================\n";
pcl::io::loadPCDFile(cmd_arguments.raw_pcd_, *build_cloud_raw);
/* Step 2 */
cout << "\n=========== Extract the building plane ... ==================\n";
ExtractBuildPlane();
/* Step 3 */
cout << "\n=========== Showing the building plane ... ==================\n";
ShowCloud();
}
