function X = armPerceptionMain(realDataDirectory, smoothFeatures, medianFilter)
% This code is copyrighted by Stanford University.
% Author: Ashutosh Saxena, Justin Drieymeyer
% Code cannot be used for commercial purposes.
% Use of the code, if used with permission from authors, must acknowledge:
% Learning to Grasp Novel Objects using Vision,
% Ashutosh Saxena, Justin Driemeyer, Justin Kearns, Chioma Osondu, Andrew Y. Ng. In 10th International Symposium on Experimental Robotics, ISER, 2006.
% Robotic Grasping of Novel Obects,
% Ashutosh Saxena, Justing Driemeyer, Justin Kearns, Andrew Y. Ng, In Neural Information Processing Systems (NIPS), 2006.
% More details at: http://ai.stanford.edu/~asaxena/learninggrasp/
% Version 0.1:   Aug 2006.

if nargin < 1
  realDataDirectory = '../RobotArm/';
else
  realDataDirectory;
end
if nargin < 2
  smoothFeatures = false;
end
if nargin < 3
  medianFilter = false;
end

images = imread([realDataDirectory 'colorCorrected.ppm']);
points = load([realDataDirectory 'xyz_points.txt']);
depthVector = [points(:, 1:2) (sqrt((points(:, 3:5).^2) * ones(3,1)))];
verbose = true;
forIntegration = false;
X = integratedArmPerceptionMain(images, points, depthVector, realDataDirectory, zeros(0, 4), verbose, forIntegration, smoothFeatures, medianFilter);