OpenNI apps: Improve handling of command line arguments (#5494)

* #5491

* Fixed typo at line 212 in parse.h

* Fixed formatting.

* Deleted whitespaces.

* Dependency update before attempting fix.

* Fixed formatting style.

* Revert . . formatting?

* Weird formatting error test?

* Fixed dependency, this should hopefully build.

* Removed unused variable in openni_ii_normal_estimation.cpp

* Build test after improvements and refactors.

* Build Test #2.

* deleted whitespace.

* Fixed formatting errors.

* Fixed formatting openni_boundary_estimation.cpp.

* Fixed formatting openni_boundary_estimation.cpp.

* Fixed formatting openni_boundary_estimation.cpp.

* Formatting check #1.

* Formatting check 2.

* Deleted whitespace.

* Changed general parsing structure, improved usage().

* Fixed formatting errors.

* Fixed!

* resolve merge conflict

* resolve merge conflict

* format test

* new format test

* test formatting

* test formatting

* test formatting

* command line behavior mimics previous version(s), consistent help flags

* rest of the files

Author: filbert14

apps/src/openni_3d_concave_hull.cpp

@@ -34,6 +34,7 @@
  */
 
 #include <pcl/common/time.h>
+#include <pcl/console/parse.h>
 #include <pcl/filters/voxel_grid.h>
 #include <pcl/io/openni_camera/openni_driver.h>
 #include <pcl/io/openni_grabber.h>
@@ -165,19 +166,29 @@ class OpenNI3DConcaveHull {
 void
 usage(char** argv)
 {
-  std::cout << "usage: " << argv[0] << " <device_id> <options>\n\n";
+  std::cout << "usage: " << argv[0] << " [-device_id X (default: \"#1\")]\n\n";
 
   openni_wrapper::OpenNIDriver& driver = openni_wrapper::OpenNIDriver::getInstance();
   if (driver.getNumberDevices() > 0) {
     for (unsigned deviceIdx = 0; deviceIdx < driver.getNumberDevices(); ++deviceIdx) {
       // clang-format off
-      std::cout << "Device: " << deviceIdx + 1 << ", vendor: " << driver.getVendorName (deviceIdx) << ", product: " << driver.getProductName (deviceIdx)
-              << ", connected: " << driver.getBus (deviceIdx) << " @ " << driver.getAddress (deviceIdx) << ", serial number: \'" << driver.getSerialNumber (deviceIdx) << "\'" << std::endl;
-      std::cout << "device_id may be #1, #2, ... for the first second etc device in the list or" << std::endl
-           << "                 bus@address for the device connected to a specific usb-bus / address combination (works only in Linux) or" << std::endl
-           << "                 <serial-number> (only in Linux and for devices which provide serial numbers)"  << std::endl;
+      std::cout << "Device: " << deviceIdx + 1 
+                << ", vendor: " << driver.getVendorName (deviceIdx) 
+                << ", product: " << driver.getProductName (deviceIdx)
+                << ", connected: " << driver.getBus (deviceIdx) << " @ " << driver.getAddress (deviceIdx) << ", serial number: \'" << driver.getSerialNumber (deviceIdx) << "\'" 
+                << std::endl;
       // clang-format on
     }
+
+    std::cout << "\ndevice_id may be:" << std::endl
+              << "    #1, #2, ... for the first second etc device in the list or"
+              << std::endl
+
+              << "    bus@address for the device connected to a specific "
+                 "usb-bus/address combination (works only in Linux) or"
+
+              << "    <serial-number> (only in Linux and for devices which provide "
+                 "serial numbers)";
   }
   else
     std::cout << "No devices connected." << std::endl;
@@ -186,24 +197,28 @@ usage(char** argv)
 int
 main(int argc, char** argv)
 {
-  std::string arg;
-  if (argc > 1)
-    arg = std::string(argv[1]);
-
-  if (arg == "--help" || arg == "-h") {
+  /////////////////////////////////////////////////////////////////////
+  if (pcl::console::find_argument(argc, argv, "-h") != -1 ||
+      pcl::console::find_argument(argc, argv, "--help") != -1) {
     usage(argv);
     return 1;
   }
 
-  pcl::OpenNIGrabber grabber(arg);
+  std::string device_id = "";
+  if (pcl::console::parse_argument(argc, argv, "-device_id", device_id) == -1 &&
+      argc > 1 && argv[1][0] != '-')
+    device_id = argv[1];
+  /////////////////////////////////////////////////////////////////////
+
+  pcl::OpenNIGrabber grabber(device_id);
   if (grabber.providesCallback<pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgba>()) {
     PCL_INFO("PointXYZRGBA mode enabled.\n");
-    OpenNI3DConcaveHull<pcl::PointXYZRGBA> v(arg);
+    OpenNI3DConcaveHull<pcl::PointXYZRGBA> v(device_id);
     v.run();
   }
   else {
     PCL_INFO("PointXYZ mode enabled.\n");
-    OpenNI3DConcaveHull<pcl::PointXYZ> v(arg);
+    OpenNI3DConcaveHull<pcl::PointXYZ> v(device_id);
     v.run();
   }
   return 0;

apps/src/openni_3d_convex_hull.cpp

@@ -34,6 +34,7 @@
  */
 
 #include <pcl/common/time.h>
+#include <pcl/console/parse.h>
 #include <pcl/filters/passthrough.h>
 #include <pcl/io/openni_camera/openni_driver.h>
 #include <pcl/io/openni_grabber.h>
@@ -163,19 +164,29 @@ class OpenNI3DConvexHull {
 void
 usage(char** argv)
 {
-  std::cout << "usage: " << argv[0] << " <device_id> <options>\n\n";
+  std::cout << "usage: " << argv[0] << " [-device_id X (default: \"#1\")]\n\n";
 
   openni_wrapper::OpenNIDriver& driver = openni_wrapper::OpenNIDriver::getInstance();
   if (driver.getNumberDevices() > 0) {
     for (unsigned deviceIdx = 0; deviceIdx < driver.getNumberDevices(); ++deviceIdx) {
       // clang-format off
-      std::cout << "Device: " << deviceIdx + 1 << ", vendor: " << driver.getVendorName (deviceIdx) << ", product: " << driver.getProductName (deviceIdx)
-              << ", connected: " << driver.getBus (deviceIdx) << " @ " << driver.getAddress (deviceIdx) << ", serial number: \'" << driver.getSerialNumber (deviceIdx) << "\'" << std::endl;
-      std::cout << "device_id may be #1, #2, ... for the first second etc device in the list or" << std::endl
-           << "                 bus@address for the device connected to a specific usb-bus / address combination (works only in Linux) or" << std::endl
-           << "                 <serial-number> (only in Linux and for devices which provide serial numbers)"  << std::endl;
+      std::cout << "Device: " << deviceIdx + 1 
+                << ", vendor: " << driver.getVendorName (deviceIdx) 
+                << ", product: " << driver.getProductName (deviceIdx)
+                << ", connected: " << driver.getBus (deviceIdx) << " @ " << driver.getAddress (deviceIdx) << ", serial number: \'" << driver.getSerialNumber (deviceIdx) << "\'" 
+                << std::endl;
       // clang-format on
     }
+
+    std::cout << "\ndevice_id may be:" << std::endl
+              << "    #1, #2, ... for the first second etc device in the list or"
+              << std::endl
+
+              << "    bus@address for the device connected to a specific "
+                 "usb-bus/address combination (works only in Linux) or"
+
+              << "    <serial-number> (only in Linux and for devices which provide "
+                 "serial numbers)";
   }
   else
     std::cout << "No devices connected." << std::endl;
@@ -184,24 +195,28 @@ usage(char** argv)
 int
 main(int argc, char** argv)
 {
-  std::string arg;
-  if (argc > 1)
-    arg = std::string(argv[1]);
-
-  if (arg == "--help" || arg == "-h") {
+  /////////////////////////////////////////////////////////////////////
+  if (pcl::console::find_argument(argc, argv, "-h") != -1 ||
+      pcl::console::find_argument(argc, argv, "--help") != -1) {
     usage(argv);
     return 1;
   }
 
-  pcl::OpenNIGrabber grabber(arg);
+  std::string device_id = "";
+  if (pcl::console::parse_argument(argc, argv, "-device_id", device_id) == -1 &&
+      argc > 1 && argv[1][0] != '-')
+    device_id = argv[1];
+  /////////////////////////////////////////////////////////////////////
+
+  pcl::OpenNIGrabber grabber(device_id);
   if (grabber.providesCallback<pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgba>()) {
     PCL_INFO("PointXYZRGBA mode enabled.\n");
-    OpenNI3DConvexHull<pcl::PointXYZRGBA> v(arg);
+    OpenNI3DConvexHull<pcl::PointXYZRGBA> v(device_id);
     v.run();
   }
   else {
     PCL_INFO("PointXYZ mode enabled.\n");
-    OpenNI3DConvexHull<pcl::PointXYZ> v(arg);
+    OpenNI3DConvexHull<pcl::PointXYZ> v(device_id);
     v.run();
   }
   return 0;

apps/src/openni_boundary_estimation.cpp

@@ -36,6 +36,7 @@
  */
 
 #include <pcl/common/time.h>
+#include <pcl/console/parse.h>
 #include <pcl/features/boundary.h>
 #include <pcl/features/integral_image_normal.h>
 #include <pcl/filters/approximate_voxel_grid.h>
@@ -180,19 +181,29 @@ class OpenNIIntegralImageNormalEstimation {
 void
 usage(char** argv)
 {
-  std::cout << "usage: " << argv[0] << " <device_id> <options>\n\n";
+  std::cout << "usage: " << argv[0] << " [-device_id X (default: \"#1\")]\n\n";
 
   openni_wrapper::OpenNIDriver& driver = openni_wrapper::OpenNIDriver::getInstance();
   if (driver.getNumberDevices() > 0) {
     for (unsigned deviceIdx = 0; deviceIdx < driver.getNumberDevices(); ++deviceIdx) {
       // clang-format off
-      std::cout << "Device: " << deviceIdx + 1 << ", vendor: " << driver.getVendorName (deviceIdx) << ", product: " << driver.getProductName (deviceIdx)
-              << ", connected: " << driver.getBus (deviceIdx) << " @ " << driver.getAddress (deviceIdx) << ", serial number: \'" << driver.getSerialNumber (deviceIdx) << "\'" << std::endl;
-      std::cout << "device_id may be #1, #2, ... for the first second etc device in the list or" << std::endl
-           << "                 bus@address for the device connected to a specific usb-bus / address combination (works only in Linux) or" << std::endl
-           << "                 <serial-number> (only in Linux and for devices which provide serial numbers)"  << std::endl;
+      std::cout << "Device: " << deviceIdx + 1 
+                << ", vendor: " << driver.getVendorName (deviceIdx) 
+                << ", product: " << driver.getProductName (deviceIdx)
+                << ", connected: " << driver.getBus (deviceIdx) << " @ " << driver.getAddress (deviceIdx) << ", serial number: \'" << driver.getSerialNumber (deviceIdx) << "\'" 
+                << std::endl;
       // clang-format on
     }
+
+    std::cout << "\ndevice_id may be:" << std::endl
+              << "    #1, #2, ... for the first second etc device in the list or"
+              << std::endl
+
+              << "    bus@address for the device connected to a specific "
+                 "usb-bus/address combination (works only in Linux) or"
+
+              << "    <serial-number> (only in Linux and for devices which provide "
+                 "serial numbers)";
   }
   else
     std::cout << "No devices connected." << std::endl;
@@ -201,18 +212,22 @@ usage(char** argv)
 int
 main(int argc, char** argv)
 {
-  std::string arg;
-  if (argc > 1)
-    arg = std::string(argv[1]);
-
-  if (arg == "--help" || arg == "-h") {
+  /////////////////////////////////////////////////////////////////////
+  if (pcl::console::find_argument(argc, argv, "-h") != -1 ||
+      pcl::console::find_argument(argc, argv, "--help") != -1) {
     usage(argv);
     return 1;
   }
 
-  pcl::OpenNIGrabber grabber(arg);
+  std::string device_id = "";
+  if (pcl::console::parse_argument(argc, argv, "-device_id", device_id) == -1 &&
+      argc > 1 && argv[1][0] != '-')
+    device_id = argv[1];
+  /////////////////////////////////////////////////////////////////////
+
+  pcl::OpenNIGrabber grabber(device_id);
   if (grabber.providesCallback<pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgb>()) {
-    OpenNIIntegralImageNormalEstimation v(arg);
+    OpenNIIntegralImageNormalEstimation v(device_id);
     v.run();
   }
   else

apps/src/openni_color_filter.cpp

@@ -159,21 +159,33 @@ class OpenNIPassthrough {
 void
 usage(char** argv)
 {
-  std::cout << "usage: " << argv[0]
-            << " <device_id> [-rgb <red> <green> <blue> [-radius <radius>] ]\n\n"
-            << std::endl;
+  std::cout << "usage: " << argv[0] << " [options]\n\n"
+            << "where options are:\n"
+            << "    -device_id X: specify the device id (default: \"#1\").\n"
+            << "    -rgb R G B: -- (default: 0 0 0)\n"
+            << "    -radius X: -- (default: 442)\n\n";
 
   openni_wrapper::OpenNIDriver& driver = openni_wrapper::OpenNIDriver::getInstance();
   if (driver.getNumberDevices() > 0) {
     for (unsigned deviceIdx = 0; deviceIdx < driver.getNumberDevices(); ++deviceIdx) {
       // clang-format off
-      std::cout << "Device: " << deviceIdx + 1 << ", vendor: " << driver.getVendorName (deviceIdx) << ", product: " << driver.getProductName (deviceIdx)
-              << ", connected: " << (int)driver.getBus (deviceIdx) << " @ " << (int)driver.getAddress (deviceIdx) << ", serial number: \'" << driver.getSerialNumber (deviceIdx) << "\'" << std::endl;
-      std::cout << "device_id may be #1, #2, ... for the first second etc device in the list or" << std::endl
-           << "                 bus@address for the device connected to a specific usb-bus / address combination (works only in Linux) or" << std::endl
-           << "                 <serial-number> (only in Linux and for devices which provide serial numbers)"  << std::endl;
+      std::cout << "Device: " << deviceIdx + 1 
+                << ", vendor: " << driver.getVendorName (deviceIdx) 
+                << ", product: " << driver.getProductName (deviceIdx)
+                << ", connected: " << driver.getBus (deviceIdx) << " @ " << driver.getAddress (deviceIdx) << ", serial number: \'" << driver.getSerialNumber (deviceIdx) << "\'" 
+                << std::endl;
       // clang-format on
     }
+
+    std::cout << "\ndevice_id may be:" << std::endl
+              << "    #1, #2, ... for the first second etc device in the list or"
+              << std::endl
+
+              << "    bus@address for the device connected to a specific "
+                 "usb-bus/address combination (works only in Linux) or"
+
+              << "    <serial-number> (only in Linux and for devices which provide "
+                 "serial numbers)";
   }
   else
     std::cout << "No devices connected." << std::endl;
@@ -182,22 +194,21 @@ usage(char** argv)
 int
 main(int argc, char** argv)
 {
-  if (argc < 2) {
-    usage(argv);
-    return 1;
-  }
-
-  std::string arg(argv[1]);
-
-  if (arg == "--help" || arg == "-h") {
+  /////////////////////////////////////////////////////////////////////
+  if (pcl::console::find_argument(argc, argv, "-h") != -1 ||
+      pcl::console::find_argument(argc, argv, "--help") != -1) {
     usage(argv);
     return 1;
   }
 
+  std::string device_id = "";
   unsigned char red = 0, green = 0, blue = 0;
   int rr, gg, bb;
   unsigned char radius = 442; // all colors!
 
+  if (pcl::console::parse_argument(argc, argv, "-device_id", device_id) == -1 &&
+      argc > 1 && argv[1][0] != '-')
+    device_id = argv[1];
   if (pcl::console::parse_3x_arguments(argc, argv, "-rgb", rr, gg, bb, true) != -1) {
     std::cout << "-rgb present" << std::endl;
     int rad;
@@ -213,8 +224,9 @@ main(int argc, char** argv)
     if (bb >= 0 && bb < 256)
       blue = (unsigned char)bb;
   }
+  /////////////////////////////////////////////////////////////////////
 
-  pcl::OpenNIGrabber grabber(arg);
+  pcl::OpenNIGrabber grabber(device_id);
 
   if (grabber.providesCallback<pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgba>()) {
     OpenNIPassthrough<pcl::PointXYZRGBA> v(grabber, red, green, blue, radius);