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 (size_t i = 0; i < pcd_indices.size (); i++)
{
CloudPtr pc (new Cloud);
pcl::io::loadPCDFile (argv[pcd_indices[i]], *pc);
clouds.push_back (CloudPair (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 (size_t i = 0; i < clouds.size (); i++)
{
if (loopDetection (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.c_str (), *(cloud.second));
std::cout << "saving result to " << result_filename << std::endl;
}
return 0;
}
int
main (int argc, char **argv)
{
pcl::registration::ELCH<PointType> elch;
pcl::IterativeClosestPoint<PointType, PointType>::Ptr icp (new pcl::IterativeClosestPoint<PointType, PointType>);
icp->setMaximumIterations (100);
icp->setMaxCorrespondenceDistance (0.1);
icp->setRANSACOutlierRejectionThreshold (0.1);
elch.setReg (icp);
CloudVector clouds;
for (int i = 1; i < argc; i++)
{
CloudPtr pc (new Cloud);
pcl::io::loadPCDFile (argv[i], *pc);
clouds.push_back (CloudPair (argv[i], pc));
std::cout << "loading file: " << argv[i] << " size: " << pc->size () << std::endl;
elch.addPointCloud (clouds[i-1].second);
}
int first = 0, last = 0;
for (size_t i = 0; i < clouds.size (); i++)
{
if (loopDetection (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 (size_t i = 0; i < clouds.size (); i++)
{
std::string result_filename (clouds[i].first);
result_filename = result_filename.substr (result_filename.rfind ("/") + 1);
pcl::io::savePCDFileBinary (result_filename.c_str (), *(clouds[i].second));
std::cout << "saving result to " << result_filename << std::endl;
}
return 0;
}
