Function main

tools/elch.cpp:102–157

}

int
main (int argc, char **argv)
{
  double dist = 0.1;
  pcl::console::parse_argument (argc, argv, "-d", dist);

  double rans = 0.1;
  pcl::console::parse_argument (argc, argv, "-r", rans);

  int iter = 100;
  pcl::console::parse_argument (argc, argv, "-i", iter);

  pcl::registration::ELCH<PointType> elch;
  pcl::IterativeClosestPoint<PointType, PointType>::Ptr icp (new pcl::IterativeClosestPoint<PointType, PointType>);
  icp->setMaximumIterations (iter);
  icp->setMaxCorrespondenceDistance (dist);
  icp->setRANSACOutlierRejectionThreshold (rans);
  elch.setReg (icp);

  std::vector<int> pcd_indices;
  pcd_indices = pcl::console::parse_file_extension_argument (argc, argv, ".pcd");

  CloudVector clouds;
  for (std::size_t i = 0; i < pcd_indices.size (); i++)
  {
    CloudPtr pc (new Cloud);
    pcl::io::loadPCDFile (argv[pcd_indices[i]], *pc);
    clouds.emplace_back(argv[pcd_indices[i]], pc);
    std::cout << "loading file: " << argv[pcd_indices[i]] << " size: " << pc->size () << std::endl;
    elch.addPointCloud (clouds[i].second);
  }

  int first = 0, last = 0;

  for (std::size_t i = 0; i < clouds.size (); i++)
  {

    if (loopDetection (static_cast<int>(i), clouds, 3.0, first, last))
    {
      std::cout << "Loop between " << first << " (" << clouds[first].first << ") and " << last << " (" << clouds[last].first << ")" << std::endl;
      elch.setLoopStart (first);
      elch.setLoopEnd (last);
      elch.compute ();
    }
  }

  for (const auto &cloud : clouds)
  {
    std::string result_filename (cloud.first);
    result_filename = result_filename.substr (result_filename.rfind ('/') + 1);
    pcl::io::savePCDFileBinary (result_filename, *(cloud.second));
    std::cout << "saving result to " << result_filename << std::endl;
  }

  return 0;
}