template<typename PointInT, typename PointOutT> void
pcl_1_8::Edge<PointInT, PointOutT>::detectEdgeLoG (
const float kernel_sigma, const float kernel_size,
pcl::PointCloud<PointOutT> &output)
{
convolution_.setInputCloud (input_);
pcl::PointCloud<pcl::PointXYZI>::Ptr log_kernel (new pcl::PointCloud<pcl::PointXYZI>);
kernel_.setKernelType (kernel<pcl::PointXYZI>::LOG);
kernel_.setKernelSigma (kernel_sigma);
kernel_.setKernelSize (kernel_size);
kernel_.fetchKernel (*log_kernel);
convolution_.setKernel (*log_kernel);
convolution_.filter (output);
}
int main(int argc, char **argv) {
static int verbose = 0, debug = 0, validate = 0, allow_unsupported_gpu = 0;
static struct option long_options[] = {
{"help", no_argument, NULL, 'h'},
{"config", required_argument, NULL, 'c'},
{"validate", no_argument, NULL, 'C'},
{"debug", no_argument, NULL, 'd'},
{"version", no_argument, NULL, 'v'},
{"verbose", no_argument, NULL, 'V'},
{"get-socketpath", no_argument, NULL, 'p'},
{"unsupported-gpu", no_argument, NULL, 'u'},
{"my-next-gpu-wont-be-nvidia", no_argument, NULL, 'u'},
{0, 0, 0, 0}
};
char *config_path = NULL;
const char* usage =
"Usage: sway [options] [command]\n"
"\n"
" -h, --help Show help message and quit.\n"
" -c, --config <config> Specify a config file.\n"
" -C, --validate Check the validity of the config file, then exit.\n"
" -d, --debug Enables full logging, including debug information.\n"
" -v, --version Show the version number and quit.\n"
" -V, --verbose Enables more verbose logging.\n"
" --get-socketpath Gets the IPC socket path and prints it, then exits.\n"
"\n";
int c;
while (1) {
int option_index = 0;
c = getopt_long(argc, argv, "hCdD:vVc:", long_options, &option_index);
if (c == -1) {
break;
}
switch (c) {
case 'h': // help
fprintf(stdout, "%s", usage);
exit(EXIT_SUCCESS);
break;
case 'c': // config
config_path = strdup(optarg);
break;
case 'C': // validate
validate = 1;
break;
case 'd': // debug
debug = 1;
break;
case 'D': // extended debug options
enable_debug_flag(optarg);
break;
case 'u':
allow_unsupported_gpu = 1;
break;
case 'v': // version
fprintf(stdout, "sway version " SWAY_VERSION "\n");
exit(EXIT_SUCCESS);
break;
case 'V': // verbose
verbose = 1;
break;
case 'p': ; // --get-socketpath
if (getenv("SWAYSOCK")) {
fprintf(stdout, "%s\n", getenv("SWAYSOCK"));
exit(EXIT_SUCCESS);
} else {
fprintf(stderr, "sway socket not detected.\n");
exit(EXIT_FAILURE);
}
break;
default:
fprintf(stderr, "%s", usage);
exit(EXIT_FAILURE);
}
}
// Since wayland requires XDG_RUNTIME_DIR to be set, abort with just the
// clear error message (when not running as an IPC client).
if (!getenv("XDG_RUNTIME_DIR") && optind == argc) {
fprintf(stderr,
"XDG_RUNTIME_DIR is not set in the environment. Aborting.\n");
exit(EXIT_FAILURE);
}
// As the 'callback' function for wlr_log is equivalent to that for
// sway, we do not need to override it.
if (debug) {
sway_log_init(SWAY_DEBUG, sway_terminate);
wlr_log_init(WLR_DEBUG, NULL);
} else if (verbose || validate) {
sway_log_init(SWAY_INFO, sway_terminate);
wlr_log_init(WLR_INFO, NULL);
} else {
sway_log_init(SWAY_ERROR, sway_terminate);
wlr_log_init(WLR_ERROR, NULL);
}
log_kernel();
log_distro();
log_env();
detect_proprietary(allow_unsupported_gpu);
detect_raspi();
if (optind < argc) { // Behave as IPC client
if (optind != 1) {
sway_log(SWAY_ERROR,
"Detected both options and positional arguments. If you "
"are trying to use the IPC client, options are not "
"supported. Otherwise, check the provided arguments for "
"issues. See `man 1 sway` or `sway -h` for usage. If you "
"are trying to generate a debug log, use "
"`sway -d 2>sway.log`.");
exit(EXIT_FAILURE);
}
if (!drop_permissions()) {
exit(EXIT_FAILURE);
}
char *socket_path = getenv("SWAYSOCK");
if (!socket_path) {
sway_log(SWAY_ERROR, "Unable to retrieve socket path");
exit(EXIT_FAILURE);
}
char *command = join_args(argv + optind, argc - optind);
run_as_ipc_client(command, socket_path);
free(command);
return 0;
}
if (!server_privileged_prepare(&server)) {
return 1;
}
if (!drop_permissions()) {
server_fini(&server);
exit(EXIT_FAILURE);
}
// handle SIGTERM signals
signal(SIGTERM, sig_handler);
// prevent ipc from crashing sway
signal(SIGPIPE, SIG_IGN);
sway_log(SWAY_INFO, "Starting sway version " SWAY_VERSION);
root = root_create();
if (!server_init(&server)) {
return 1;
}
if (validate) {
bool valid = load_main_config(config_path, false, true);
free(config_path);
return valid ? 0 : 1;
}
ipc_init(&server);
setenv("WAYLAND_DISPLAY", server.socket, true);
if (!load_main_config(config_path, false, false)) {
sway_terminate(EXIT_FAILURE);
goto shutdown;
}
if (!server_start(&server)) {
sway_terminate(EXIT_FAILURE);
goto shutdown;
}
config->active = true;
load_swaybars();
run_deferred_commands();
if (config->swaynag_config_errors.pid > 0) {
swaynag_show(&config->swaynag_config_errors);
}
server_run(&server);
shutdown:
sway_log(SWAY_INFO, "Shutting down sway");
server_fini(&server);
root_destroy(root);
root = NULL;
free(config_path);
free_config(config);
pango_cairo_font_map_set_default(NULL);
return exit_value;
}