int
main (int argc, char ** argv)
{
if (argc < 2)
{
usage (argv);
return 1;
}
std::string arg (argv[1]);
if (arg == "--help" || arg == "-h")
{
usage (argv);
return 1;
}
double threshold = 0.05;
pcl::console::parse_argument (argc, argv, "-thresh", threshold);
pcl::OpenNIGrabber grabber (arg);
if (grabber.providesCallback<pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgba> ())
{
OpenNIPlanarSegmentation<pcl::PointXYZRGBA> v (arg, threshold);
v.run ();
}
else
{
OpenNIPlanarSegmentation<pcl::PointXYZ> v (arg, threshold);
v.run ();
}
return (0);
}
int
main (int argc, char ** argv)
{
if (argc < 2)
{
usage (argv);
return 1;
}
std::string arg (argv[1]);
if (arg == "--help" || arg == "-h")
{
usage (argv);
return 1;
}
double threshold = 0.02;
pcl::console::parse_argument (argc, argv, "-thresh", threshold);
pcl::Grabber* grabberptr;
if (arg.length() >= 4 && 0 == arg.compare(arg.length()-4, 4, ".oni")){
grabberptr = new pcl::ONIGrabber(arg, true, true);
} else {
grabberptr = new pcl::OpenNIGrabber(arg);
}
pcl::Grabber& grabber = *grabberptr;
if (grabber.providesCallback<pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgba> ())
{
OpenNIPlanarSegmentation<pcl::PointXYZRGBA> v (arg, threshold);
delete grabberptr;
v.run ();
}
else
{
OpenNIPlanarSegmentation<pcl::PointXYZ> v (arg, threshold);
delete grabberptr;
v.run ();
}
return (0);
}