CGridMapAlignerApp.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/slam/CGridMapAligner.h>
#include <mrpt/system/COutputLogger.h>

namespace mrpt::apps
{
/** grid-matching application wrapper class.
 *
 * \sa mrpt::slam::CGridMapAligner
 * \ingroup mrpt_apps_grp
 */
class CGridMapAlignerApp : public mrpt::system::COutputLogger
{
   public:
    CGridMapAlignerApp();

    /** @name Main API
     * @{ */

    /** Initializes the application from CLI parameters. Refer to the manpage of
     * grid-matching. Throws on errors.
     */
    void initialize(int argc, const char** argv);

    inline void initialize(int argc, char** argv)
    {
        initialize(argc, const_cast<const char**>(argv));
    }

    /** Runs with the current parameter set. Throws on errors. */
    void run();

    /** @} */

    /** @name Parameters and options. See: initialize()
     * @{ */

    bool SAVE_SOG_3DSCENE = false;
    bool SAVE_SOG_ALL_MAPS_OVERLAP_HYPOTHESES = false;
    bool SAVE_CORR_AND_NONCORR_DISTS = false;
    bool IS_VERBOSE = false;
    bool NOSAVE = false;
    bool SKIP_ICP_STAGE = false;
    bool MOST_LIKELY_SOG_MODE_ONLY = false;

    std::string SAVE_ICP_GOODNESS_FIL = "";

    // Mode of operation
    bool is_match = false, is_detect_test = false;

    std::string RESULTS_DIR = "GRID-MATCHING_RESULTS";
    std::string fil_grid1, fil_grid2;
    std::string OUTPUT_FIL;
    std::string CONFIG_FIL;

    double STD_NOISE_XY = 0, STD_NOISE_PHI = 0;
    double STD_NOISE_LASER = 0;
    double GT_Ax = 0, GT_Ay = 0, GT_Aphi_rad = 0;

    bool NOISE_IN_LASER = false;
    bool NOISE_IN_POSE = false;

    unsigned int N_ITERS = 1;

    mrpt::slam::CGridMapAligner::TAlignerMethod aligner_method =
        mrpt::slam::CGridMapAligner::amModifiedRANSAC;
    /** @} */

    /** @name Outputs and result variables
     * @{ */
    mrpt::poses::CPose2D estimateMean;
    mrpt::math::CMatrixDouble33 estimateCOV;

    /** @} */
};

}  // namespace mrpt::apps