PointCloudLibrary#5475 Allow read device_id from the command line arg…

…s to be used in o… (PointCloudLibrary#5477)

* PointCloudLibrary#5475 Allow read device_id from the command line args to be used in openni_3d_concave_hull.cpp.

* PointCloudLibrary#5475 Fixed 8 more files in apps/src.

* Updated help option return value.

* Fixed faulty if statement in openni_voxel_grid.cpp.

* Revert "Fixed faulty if statement in openni_voxel_grid.cpp."

This reverts commit bf112aa.

* Revert "Updated help option return value."

This reverts commit 7dc224d.

* Reverted previous changes.

* Fixed formatting errors.

* Fixed formatting errors.

* Fixed formatting errors.

* Declared argument variable.

* Renamed argument variable for openni_mobile_server.cpp

* Allowed device_id to still be an optional parameter.

* Changed formatting.

* Revert "Changed formatting."

This reverts commit 3de27c1.

* Revert "Allowed device_id to still be an optional parameter."

This reverts commit 652f346.

* Applied previously made changes.

* Fished inconsistent variable naming in openni_mobile_server.cpp.

apps/src/openni_3d_concave_hull.cpp

@@ -195,15 +195,15 @@ main(int argc, char** argv)
     return 1;
   }
 
-  pcl::OpenNIGrabber grabber("");
+  pcl::OpenNIGrabber grabber(arg);
   if (grabber.providesCallback<pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgba>()) {
     PCL_INFO("PointXYZRGBA mode enabled.\n");
-    OpenNI3DConcaveHull<pcl::PointXYZRGBA> v("");
+    OpenNI3DConcaveHull<pcl::PointXYZRGBA> v(arg);
     v.run();
   }
   else {
     PCL_INFO("PointXYZ mode enabled.\n");
-    OpenNI3DConcaveHull<pcl::PointXYZ> v("");
+    OpenNI3DConcaveHull<pcl::PointXYZ> v(arg);
     v.run();
   }
   return 0;

apps/src/openni_3d_convex_hull.cpp

@@ -193,15 +193,15 @@ main(int argc, char** argv)
     return 1;
   }
 
-  pcl::OpenNIGrabber grabber("");
+  pcl::OpenNIGrabber grabber(arg);
   if (grabber.providesCallback<pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgba>()) {
     PCL_INFO("PointXYZRGBA mode enabled.\n");
-    OpenNI3DConvexHull<pcl::PointXYZRGBA> v("");
+    OpenNI3DConvexHull<pcl::PointXYZRGBA> v(arg);
     v.run();
   }
   else {
     PCL_INFO("PointXYZ mode enabled.\n");
-    OpenNI3DConvexHull<pcl::PointXYZ> v("");
+    OpenNI3DConvexHull<pcl::PointXYZ> v(arg);
     v.run();
   }
   return 0;

apps/src/openni_boundary_estimation.cpp

@@ -210,9 +210,9 @@ main(int argc, char** argv)
     return 1;
   }
 
-  pcl::OpenNIGrabber grabber("");
+  pcl::OpenNIGrabber grabber(arg);
   if (grabber.providesCallback<pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgb>()) {
-    OpenNIIntegralImageNormalEstimation v("");
+    OpenNIIntegralImageNormalEstimation v(arg);
     v.run();
   }
   else

apps/src/openni_fast_mesh.cpp

@@ -189,15 +189,15 @@ main(int argc, char** argv)
     return 1;
   }
 
-  pcl::OpenNIGrabber grabber("");
+  pcl::OpenNIGrabber grabber(arg);
   if (grabber.providesCallback<pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgba>()) {
     PCL_INFO("PointXYZRGBA mode enabled.\n");
-    OpenNIFastMesh<pcl::PointXYZRGBA> v("");
+    OpenNIFastMesh<pcl::PointXYZRGBA> v(arg);
     v.run(argc, argv);
   }
   else {
     PCL_INFO("PointXYZ mode enabled.\n");
-    OpenNIFastMesh<pcl::PointXYZ> v("");
+    OpenNIFastMesh<pcl::PointXYZ> v(arg);
     v.run(argc, argv);
   }
   return 0;

apps/src/openni_feature_persistence.cpp

@@ -266,6 +266,10 @@ main(int argc, char** argv)
                "MultiscaleFeaturePersistence class using the FPFH features\n"
             << "Use \"-h\" to get more info about the available options.\n";
 
+  std::string arg = "";
+  if ((argc > 1) && (argv[1][0] != '-'))
+    arg = std::string(argv[1]);
+
   if (pcl::console::find_argument(argc, argv, "-h") == -1) {
     usage(argv);
     return 1;
@@ -286,17 +290,17 @@ main(int argc, char** argv)
   float alpha = default_alpha;
   pcl::console::parse_argument(argc, argv, "-persistence_alpha", alpha);
 
-  pcl::OpenNIGrabber grabber("");
+  pcl::OpenNIGrabber grabber(arg);
   if (grabber.providesCallback<pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgba>()) {
     PCL_INFO("PointXYZRGBA mode enabled.\n");
     OpenNIFeaturePersistence<pcl::PointXYZRGBA> v(
-        subsampling_leaf_size, normal_search_radius, scales_vector, alpha, "");
+        subsampling_leaf_size, normal_search_radius, scales_vector, alpha, arg);
     v.run();
   }
   else {
     PCL_INFO("PointXYZ mode enabled.\n");
     OpenNIFeaturePersistence<pcl::PointXYZ> v(
-        subsampling_leaf_size, normal_search_radius, scales_vector, alpha, "");
+        subsampling_leaf_size, normal_search_radius, scales_vector, alpha, arg);
     v.run();
   }
 

apps/src/openni_ii_normal_estimation.cpp

@@ -230,15 +230,15 @@ main(int argc, char** argv)
   std::cout << "<Q,q> quit\n\n";
   // clang-format on
 
-  pcl::OpenNIGrabber grabber("");
+  pcl::OpenNIGrabber grabber(arg);
   if (grabber.providesCallback<pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgba>()) {
     PCL_INFO("PointXYZRGBA mode enabled.\n");
-    OpenNIIntegralImageNormalEstimation<pcl::PointXYZRGBA> v("");
+    OpenNIIntegralImageNormalEstimation<pcl::PointXYZRGBA> v(arg);
     v.run();
   }
   else {
     PCL_INFO("PointXYZ mode enabled.\n");
-    OpenNIIntegralImageNormalEstimation<pcl::PointXYZ> v("");
+    OpenNIIntegralImageNormalEstimation<pcl::PointXYZ> v(arg);
     v.run();
   }
 

apps/src/openni_mobile_server.cpp

@@ -221,7 +221,7 @@ class PCLMobileServer {
 void
 usage(char** argv)
 {
-  std::cout << "usage: " << argv[0] << " <options>\n"
+  std::cout << "usage: " << argv[0] << " <device_id> <options>\n"
             << "where options are:\n"
             << "  -port p :: set the server port (default: 11111)\n"
             << "  -leaf x, y, z  :: set the voxel grid leaf size (default: 0.01)\n";
@@ -230,19 +230,22 @@ usage(char** argv)
 int
 main(int argc, char** argv)
 {
+  std::string device_id = "";
+  if ((argc > 1) && (argv[1][0] != '-'))
+    device_id = std::string(argv[1]);
+
   if (pcl::console::find_argument(argc, argv, "-h") != -1) {
     usage(argv);
     return 0;
   }
 
   int port = 11111;
   float leaf_x = 0.01f, leaf_y = 0.01f, leaf_z = 0.01f;
-  std::string device_id;
 
   pcl::console::parse_argument(argc, argv, "-port", port);
   pcl::console::parse_3x_arguments(argc, argv, "-leaf", leaf_x, leaf_y, leaf_z, false);
 
-  pcl::OpenNIGrabber grabber("");
+  pcl::OpenNIGrabber grabber(device_id);
   if (!grabber.providesCallback<pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgba>()) {
     std::cout << "OpenNI grabber does not provide the rgba cloud format." << std::endl;
     return 1;

apps/src/openni_organized_edge_detection.cpp

@@ -325,7 +325,7 @@ main(int argc, char** argv)
   //std::cout << "<5> EDGELABEL_RGB_CANNY edge" << std::endl;
   std::cout << "<Q,q> quit" << std::endl;
   // clang-format on
-  pcl::OpenNIGrabber grabber("");
+  pcl::OpenNIGrabber grabber(arg);
   if (grabber.providesCallback<pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgb>()) {
     OpenNIOrganizedEdgeDetection app;
     app.run();

apps/src/openni_voxel_grid.cpp

@@ -169,8 +169,14 @@ usage(char** argv)
 int
 main(int argc, char** argv)
 {
-  if (pcl::console::find_argument(argc, argv, "-h") != -1)
+  std::string arg = "";
+  if ((argc > 1) && (argv[1][0] != '-'))
+    arg = std::string(argv[1]);
+
+  if (pcl::console::find_argument(argc, argv, "-h") != -1) {
     usage(argv);
+    return 1;
+  }
 
   float min_v = 0.0f, max_v = 5.0f;
   pcl::console::parse_2x_arguments(argc, argv, "-minmax", min_v, max_v);
@@ -182,15 +188,15 @@ main(int argc, char** argv)
   pcl::console::parse_3x_arguments(argc, argv, "-leaf", leaf_x, leaf_y, leaf_z);
   PCL_INFO("Using %f, %f, %f as a leaf size for VoxelGrid.\n", leaf_x, leaf_y, leaf_z);
 
-  pcl::OpenNIGrabber grabber("");
+  pcl::OpenNIGrabber grabber(arg);
   if (grabber.providesCallback<pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgba>()) {
     OpenNIVoxelGrid<pcl::PointXYZRGBA> v(
-        "", field_name, min_v, max_v, leaf_x, leaf_y, leaf_z);
+        arg, field_name, min_v, max_v, leaf_x, leaf_y, leaf_z);
     v.run();
   }
   else {
     OpenNIVoxelGrid<pcl::PointXYZ> v(
-        "", field_name, min_v, max_v, leaf_x, leaf_y, leaf_z);
+        arg, field_name, min_v, max_v, leaf_x, leaf_y, leaf_z);
     v.run();
   }