int
main (int argc, char** argv)
{
bool use_convex_hull = true;
bool visualize_non_downsample = false;
bool visualize_particles = true;
bool use_fixed = false;
double downsampling_grid_size = 0.01;
if (pcl::console::find_argument (argc, argv, "-C") > 0)
use_convex_hull = false;
if (pcl::console::find_argument (argc, argv, "-D") > 0)
visualize_non_downsample = true;
if (pcl::console::find_argument (argc, argv, "-P") > 0)
visualize_particles = false;
if (pcl::console::find_argument (argc, argv, "-fixed") > 0)
use_fixed = true;
pcl::console::parse_argument (argc, argv, "-d", downsampling_grid_size);
if (argc < 2)
{
usage (argv);
exit (1);
}
std::string device_id = std::string (argv[1]);
if (device_id == "--help" || device_id == "-h")
{
usage (argv);
exit (1);
}
// open kinect
OpenNISegmentTracking<pcl::PointXYZRGBA> v (device_id, 8, downsampling_grid_size,
use_convex_hull,
visualize_non_downsample, visualize_particles,
use_fixed);
v.run ();
}
int
main (int argc, char** argv)
{
ros::init(argc, argv, "chair_pcl17_tracking");
bool use_fixed = false;
double downsampling_grid_size = 0.01;
pcl17::console::parse_argument (argc, argv, "-d", downsampling_grid_size);
if (argc < 2)
{
usage (argv);
exit (1);
}
/*
pcl17::PointCloud<pcl17::PointXYZ>::Ptr input_model_point_cloud(new pcl17::PointCloud<pcl17::PointXYZ>);
*/
// open kinect
OpenNISegmentTracking<pcl17::PointXYZ> v (8, downsampling_grid_size,use_fixed/*,input_model_point_cloud*/);
v.run ();
}