createPointCloudModel.cpp

Go to the documentation of this file.

#include "ros/ros.h"


int main(int argc, char **argv)
{
  ros::init(argc, argv, "create_pointcloud_model");
  ros::NodeHandle n;

  int retVal;
  std::string system_command;
  std::string command_create_model;


  if(argc < 6)
  {
    ROS_WARN("Usage: createPlanarModel <image dir> <model dir> "
      "<name model> <output model dir> <surf threshold>");
    return 1;
  }
  
  std::string ImageDir = argv[1];
  std::string ModelDir = argv[2];
  std::string Name = argv[3];
  std::string ModelOutDir = argv[4];
  std::string SurfThreshold = argv[5];

  std::string path_re_vision;

  FILE * find_file = popen("rospack find re_vision", "r");
  char command_find[1000];
  int numChar = fread(command_find, 1, 1000, find_file);
  command_find[numChar-1] = 0;

  path_re_vision = command_find;

  command_create_model = path_re_vision + "/bin"; 

  ROS_INFO("Ready to create pointcloud model.");

  system_command ="cd " + command_create_model + "; ./createModel.sh " + ImageDir + " " + ModelDir + " " + Name + " " + ModelOutDir + " " + SurfThreshold;

  retVal = system(system_command.c_str());

  return retVal;
}