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);
}
