Function main

ros_node/join_maps_node.cpp:26–62

#include "builder/multi_trajectory_map_builder.h"

int main(int argc, char** argv) {
  std::string base_map_file = "";
  pcl::console::parse_argument(argc, argv, "-b", base_map_file);
  if (base_map_file.empty()) {
    PRINT_ERROR("you should use \"-b filename\" to specify the basemap xml. ");
    return -1;
  }

  std::string incremental_map_file = "";
  pcl::console::parse_argument(argc, argv, "-i", incremental_map_file);
  if (incremental_map_file.empty()) {
    PRINT_ERROR(
        "you should use \"-i filename\" to specify the incremental map xml. ");
    return -1;
  }

  std::string new_map_file = "";
  pcl::console::parse_argument(argc, argv, "-n", new_map_file);
  if (new_map_file.empty()) {
    PRINT_ERROR("you should use \"-n filename\" to specify the new map xml. ");
    return -1;
  }

  static_map::MultiTrajectoryMapBuilderOptions options;
  options.loop_dettect_settings.use_gps = false;
  options.loop_dettect_settings.max_close_loop_distance = 10.;
  options.loop_dettect_settings.nearest_history_pos_num = 3;

  static_map::MultiTrajectoryMapBuilder builder(options);

  builder.LoadBaseMap(base_map_file);
  builder.LoadIncrementalMap(incremental_map_file);
  builder.SaveWholeMap(new_map_file);
  // builder.GenerateWholeMapPcd("2map.pcd");
  builder.GenerateStaticMap("2map_static.pcd");
  return 0;
}