int main (int argc, char ** argv) { std::string arg; if (argc > 1) arg = std::string (argv[1]); if (arg == "--help" || arg == "-h") { usage (argv); return 1; } pcl::OpenNIGrabber grabber (""); if (grabber.providesCallback<pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgb> ()) { PCL_INFO ("PointXYZRGB mode enabled.\n"); OpenNIIntegralImageNormalEstimation<pcl::PointXYZRGB> v (""); v.run (); } else { PCL_INFO ("PointXYZ mode enabled.\n"); OpenNIIntegralImageNormalEstimation<pcl::PointXYZ> v (""); v.run (); } return (0); }
int main (int argc, char ** argv) { std::string arg; if (argc > 1) arg = std::string (argv[1]); openni_wrapper::OpenNIDriver& driver = openni_wrapper::OpenNIDriver::getInstance (); if (arg == "--help" || arg == "-h" || driver.getNumberDevices () == 0) { usage (argv); return 1; } std::cout << "Press following keys to switch to the different integral image normal estimation methods:\n"; std::cout << "<1> COVARIANCE_MATRIX method\n"; std::cout << "<2> AVERAGE_3D_GRADIENT method\n"; std::cout << "<3> AVERAGE_DEPTH_CHANGE method\n"; std::cout << "<4> SIMPLE_3D_GRADIENT method\n"; std::cout << "<Q,q> quit\n\n"; pcl::OpenNIGrabber grabber (""); if (grabber.providesCallback<pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgba> ()) { PCL_INFO ("PointXYZRGBA mode enabled.\n"); OpenNIIntegralImageNormalEstimation<pcl::PointXYZRGBA> v (""); v.run (); } else { PCL_INFO ("PointXYZ mode enabled.\n"); OpenNIIntegralImageNormalEstimation<pcl::PointXYZ> v (""); v.run (); } return (0); }