mrpt::slam::CGridMapAligner Class Reference

Detailed Description

A class for aligning two multi-metric maps (with an occupancy grid maps and a points map, at least) based on features extraction and matching.

The matching pose is returned as a Sum of Gaussians (poses::CPosePDFSOG).

This class can use three methods (see options.methodSelection):

• amCorrelation: "Brute-force" correlation of the two maps over a 2D+orientation grid of possible 2D poses.
• amRobustMatch: Detection of features + RANSAC matching
• amModifiedRANSAC: Detection of features + modified multi-hypothesis RANSAC matching as described in was reported in the paper https://www.mrpt.org/Paper%3AOccupancy_Grid_Matching

See CGridMapAligner::Align for more instructions.

See also

CMetricMapsAlignmentAlgorithm

Definition at line 40 of file CGridMapAligner.h.

#include <mrpt/slam/CGridMapAligner.h>

Inheritance diagram for mrpt::slam::CGridMapAligner:

Classes
class	TConfigParams
	The ICP algorithm configuration data. More...
struct	TReturnInfo
	The ICP algorithm return information. More...

Public Types
enum	TAlignerMethod { amRobustMatch = 0, amCorrelation, amModifiedRANSAC }
	The type for selecting the grid-map alignment algorithm. More...

Public Member Functions
	CGridMapAligner ()
mrpt::poses::CPosePDF::Ptr	AlignPDF (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPosePDFGaussian &initialEstimationPDF, mrpt::optional_ref< TMetricMapAlignmentResult > outInfo=std::nullopt) override
	The method for aligning a pair of 2D points map. More...
mrpt::poses::CPose3DPDF::Ptr	Align3DPDF (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose3DPDFGaussian &initialEstimationPDF, mrpt::optional_ref< TMetricMapAlignmentResult > outInfo=std::nullopt) override
	Not applicable in this class, will launch an exception if used. More...
mrpt::poses::CPosePDF::Ptr	Align (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose2D &grossEst, mrpt::optional_ref< TMetricMapAlignmentResult > outInfo=std::nullopt)
	The method for aligning a pair of metric maps, for SE(2) relative poses. More...
mrpt::poses::CPose3DPDF::Ptr	Align3D (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose3D &grossEst, mrpt::optional_ref< TMetricMapAlignmentResult > outInfo=std::nullopt)

Static Public Member Functions
static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_colors ()
	Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...
static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_names ()
	Map from VerbosityLevels to their corresponding names. More...

Public Attributes
mrpt::slam::CGridMapAligner::TConfigParams	options

Protected Attributes
VerbosityLevel	m_min_verbosity_level {LVL_INFO}
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...

Private Member Functions
mrpt::poses::CPosePDF::Ptr	AlignPDF_correlation (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPosePDFGaussian &initialEstimationPDF, TReturnInfo &info)
	Private member, implements one the algorithms. More...
mrpt::poses::CPosePDF::Ptr	AlignPDF_robustMatch (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPosePDFGaussian &initialEstimationPDF, TReturnInfo &info)
	Private member, implements both, the "robustMatch" and the newer "modifiedRANSAC" algorithms. More...

Private Attributes
COccupancyGridMapFeatureExtractor	m_grid_feat_extr
	Grid map features extractor. More...

Logging methods
bool	logging_enable_console_output {true}
	[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...
bool	logging_enable_keep_record {false}
	[Default=false] Enables storing all messages into an internal list. More...
void	logStr (const VerbosityLevel level, std::string_view msg_str) const
	Main method to add the specified message string to the logger. More...
void	logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
	Alternative logging method, which mimics the printf behavior. More...
void void	logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
	Log the given message only if the condition is satisfied. More...
void	setLoggerName (const std::string &name)
	Set the name of the COutputLogger instance. More...
std::string	getLoggerName () const
	Return the name of the COutputLogger instance. More...
void	setMinLoggingLevel (const VerbosityLevel level)
	Set the minimum logging level for which the incoming logs are going to be taken into account. More...
void	setVerbosityLevel (const VerbosityLevel level)
	alias of setMinLoggingLevel() More...
VerbosityLevel	getMinLoggingLevel () const
bool	isLoggingLevelVisible (VerbosityLevel level) const
void	getLogAsString (std::string &log_contents) const
	Fill the provided string with the contents of the logger's history in std::string representation. More...
std::string	getLogAsString () const
	Get the history of COutputLogger instance in a string representation. More...
void	writeLogToFile (const std::string *fname_in=nullptr) const
	Write the contents of the COutputLogger instance to an external file. More...
void	dumpLogToConsole () const
	Dump the current contents of the COutputLogger instance in the terminal window. More...
std::string	getLoggerLastMsg () const
	Return the last Tmsg instance registered in the logger history. More...
void	getLoggerLastMsg (std::string &msg_str) const
	Fill inputtted string with the contents of the last message in history. More...
void	loggerReset ()
	Reset the contents of the logger instance. More...
void	logRegisterCallback (output_logger_callback_t userFunc)
bool	logDeregisterCallback (output_logger_callback_t userFunc)

Member Enumeration Documentation

TAlignerMethod

enum mrpt::slam::CGridMapAligner::TAlignerMethod

The type for selecting the grid-map alignment algorithm.

Enumerator
amRobustMatch
amCorrelation
amModifiedRANSAC

Definition at line 46 of file CGridMapAligner.h.

Constructor & Destructor Documentation

CGridMapAligner()

mrpt::slam::CGridMapAligner::CGridMapAligner ( )

inline

Definition at line 43 of file CGridMapAligner.h.

Member Function Documentation

Align()

CPosePDF::Ptr CMetricMapsAlignmentAlgorithm::Align ( const mrpt::maps::CMetricMap *  m1, const mrpt::maps::CMetricMap *  m2, const mrpt::poses::CPose2D &  grossEst, mrpt::optional_ref< TMetricMapAlignmentResult >  outInfo = std::nullopt  )

inherited

The method for aligning a pair of metric maps, for SE(2) relative poses.

The meaning of some parameters and the kind of the maps to be aligned are implementation dependant, so look at the derived classes for instructions. The target is to find a PDF for the pose displacement between maps, thus the pose of m2 relative to m1. This pose is returned as a PDF rather than a single value.

Parameters

m1	[IN] The first map
m2	[IN] The second map. The pose of this map respect to m1 is to be estimated.
grossEst	[IN] An initial gross estimation for the displacement. If a given algorithm doesn't need it, set to CPose2D(0,0,0) for example.
runningTime	[OUT] A pointer to a container for obtaining the algorithm running time in seconds, or nullptr if you don't need it.
info	[OUT] See derived classes for details, or nullptr if it isn't needed.

Returns

A smart pointer to the output estimated pose PDF.

See also

CICP

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Returns

A smart pointer to the output estimated pose PDF.

See also

CICP

Definition at line 22 of file CMetricMapsAlignmentAlgorithm.cpp.

Referenced by ICPTests::align2scans(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), mrpt::slam::CMetricMapBuilderICP::processObservation(), and mrpt::apps::CGridMapAlignerApp::run().

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Align3D()

CPose3DPDF::Ptr CMetricMapsAlignmentAlgorithm::Align3D ( const mrpt::maps::CMetricMap *  m1, const mrpt::maps::CMetricMap *  m2, const mrpt::poses::CPose3D &  grossEst, mrpt::optional_ref< TMetricMapAlignmentResult >  outInfo = std::nullopt  )

inherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Returns

A smart pointer to the output estimated pose PDF.

See also

CICP

Definition at line 31 of file CMetricMapsAlignmentAlgorithm.cpp.

References mrpt::poses::CPose3DPDFGaussian::mean.

Referenced by TEST_F().

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Align3DPDF()

CPose3DPDF::Ptr CGridMapAligner::Align3DPDF ( const mrpt::maps::CMetricMap *  m1, const mrpt::maps::CMetricMap *  m2, const mrpt::poses::CPose3DPDFGaussian &  initialEstimationPDF, mrpt::optional_ref< TMetricMapAlignmentResult >  outInfo = std::nullopt  )

overridevirtual

Not applicable in this class, will launch an exception if used.

Implements mrpt::slam::CMetricMapsAlignmentAlgorithm.

Definition at line 1163 of file CGridMapAligner.cpp.

References THROW_EXCEPTION.

AlignPDF()

CPosePDF::Ptr CGridMapAligner::AlignPDF ( const mrpt::maps::CMetricMap *  m1, const mrpt::maps::CMetricMap *  m2, const mrpt::poses::CPosePDFGaussian &  initialEstimationPDF, mrpt::optional_ref< TMetricMapAlignmentResult >  outInfo = std::nullopt  )

overridevirtual

The method for aligning a pair of 2D points map.

The meaning of some parameters are implementation dependant, so look for derived classes for instructions. The target is to find a PDF for the pose displacement between maps, thus the pose of m2 relative to m1. This pose is returned as a PDF rather than a single value.

NOTE: This method can be configurated with "options"

Parameters

m1	[IN] The first map (Must be a mrpt::maps::CMultiMetricMap class)
m2	[IN] The second map (Must be a mrpt::maps::CMultiMetricMap class)
initialEstimationPDF	[IN] (IGNORED IN THIS ALGORITHM!)
runningTime	[OUT] A pointer to a container for obtaining the algorithm running time in seconds, or NULL if you don't need it.
info	[OUT] A pointer to a TReturnInfo struct, or NULL if result information are not required.

Note

The returned PDF depends on the selected alignment method:

• "amRobustMatch" –> A "poses::CPosePDFSOG" object.
• "amCorrelation" –> A "poses::CPosePDFGrid" object.

Returns

A smart pointer to the output estimated pose PDF.

See also

CPointsMapAlignmentAlgorithm, options

Implements mrpt::slam::CMetricMapsAlignmentAlgorithm.

Definition at line 41 of file CGridMapAligner.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

AlignPDF_correlation()

CPosePDF::Ptr CGridMapAligner::AlignPDF_correlation ( const mrpt::maps::CMetricMap *  m1, const mrpt::maps::CMetricMap *  m2, const mrpt::poses::CPosePDFGaussian &  initialEstimationPDF, TReturnInfo &  info  )

private

Private member, implements one the algorithms.

Definition at line 958 of file CGridMapAligner.cpp.

References ASSERT_, ASSERT_EQUAL_, CLASS_ID, mrpt::img::CImage::cross_correlation_FFT(), mrpt::DEG2RAD(), mrpt::slam::TMetricMapAlignmentResult::executionTime, mrpt::maps::COccupancyGridMap2D::getAsImage(), mrpt::maps::COccupancyGridMap2D::getRow(), mrpt::maps::CMetricMap::GetRuntimeClass(), mrpt::maps::COccupancyGridMap2D::getSizeX(), mrpt::maps::COccupancyGridMap2D::getSizeY(), mrpt::maps::COccupancyGridMap2D::getXMax(), mrpt::maps::COccupancyGridMap2D::getXMin(), mrpt::maps::COccupancyGridMap2D::idx2x(), mrpt::maps::COccupancyGridMap2D::idx2y(), M_PIf, mrpt::math::MatrixVectorBase< Scalar, Derived >::maxCoeff(), MRPT_END, MRPT_LOG_INFO_FMT, MRPT_START, mrpt::RAD2DEG(), mrpt::img::CImage::saveToFile(), mrpt::img::CImage::setFromMatrix(), mrpt::maps::COccupancyGridMap2D::setSize(), mrpt::system::CTicTac::Tic(), win, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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AlignPDF_robustMatch()

CPosePDF::Ptr CGridMapAligner::AlignPDF_robustMatch ( const mrpt::maps::CMetricMap *  m1, const mrpt::maps::CMetricMap *  m2, const mrpt::poses::CPosePDFGaussian &  initialEstimationPDF, TReturnInfo &  info  )

private

Private member, implements both, the "robustMatch" and the newer "modifiedRANSAC" algorithms.

Definition at line 85 of file CGridMapAligner.cpp.

References ASSERT_, ASSERTMSG_, mrpt::math::chi2inv(), mrpt::slam::CGridMapAligner::TReturnInfo::correspondences, mrpt::slam::CGridMapAligner::TReturnInfo::correspondences_dists_maha, mrpt::maps::CMultiMetricMap::countMapsByClass(), mrpt::poses::CPoint2DPDFGaussian::cov, mrpt::poses::CPosePDFSOG::TGaussianMode::cov, mrpt::poses::CPosePDFGaussian::cov, mrpt::system::createDirectory(), mrpt::system::deleteFilesInDirectory(), mrpt::math::distanceBetweenPoints(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::distanceTo(), mrpt::img::CImage::drawImage(), mrpt::random::CRandomGenerator::drawUniform32bit(), mrpt::slam::TMetricMapAlignmentResult::executionTime, mrpt::img::CCanvas::filledRectangle(), mrpt::format(), mrpt::maps::COccupancyGridMap2D::getArea(), mrpt::img::CImage::getHeight(), mrpt::maps::CPointsMap::getPoint(), mrpt::random::getRandomGenerator(), mrpt::maps::COccupancyGridMap2D::getResolution(), mrpt::maps::COccupancyGridMap2D::getSizeX(), mrpt::maps::COccupancyGridMap2D::getSizeY(), mrpt::img::CImage::getWidth(), mrpt::slam::CGridMapAligner::TReturnInfo::goodness, mrpt::slam::CICP::TReturnInfo::goodness, mrpt::slam::CGridMapAligner::TReturnInfo::icp_goodness_all_sog_modes, mrpt::maps::CPointsMap::insertPoint(), IS_CLASS, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::kdTreeNClosestPoint2DIdx(), mrpt::slam::CGridMapAligner::TReturnInfo::landmarks_map1, mrpt::slam::CGridMapAligner::TReturnInfo::landmarks_map2, mrpt::tfest::TSE2RobustResult::largestSubSet, mrpt::poses::CPosePDFSOG::TGaussianMode::log_w, mrpt::poses::CPoint2DPDFGaussian::mahalanobisDistanceTo(), mrpt::poses::CPosePDFGaussian::mahalanobisDistanceTo(), mrpt::maps::CMultiMetricMap::mapByClass(), mrpt::poses::CPoint2DPDFGaussian::mean, mrpt::poses::CPosePDFGaussian::mean, mrpt::poses::CPosePDFSOG::TGaussianMode::mean, mrpt::math::mean(), mrpt::math::minimum(), MRPT_END, MRPT_LOG_DEBUG_STREAM, MRPT_LOG_INFO, MRPT_LOG_INFO_FMT, MRPT_LOG_INFO_STREAM, MRPT_START, mrpt::math::multiply_HCHt(), myVectorOrder(), mrpt::slam::CGridMapAligner::TReturnInfo::noRobustEstimation, mrpt::tfest::TMatchingPair::other_idx, mrpt::tfest::TMatchingPair::other_x, mrpt::tfest::TMatchingPair::other_y, mrpt::tfest::TMatchingPair::other_z, mrpt::poses::CPose2D::phi(), mrpt::tfest::TSE2RobustParams::probability_find_good_model, mrpt::poses::CPoint2DPDFGaussian::productIntegralWith(), mrpt::RAD2DEG(), mrpt::tfest::TSE2RobustParams::ransac_algorithmForLandmarks, mrpt::tfest::TSE2RobustParams::ransac_fuseByCorrsMatch, mrpt::tfest::TSE2RobustParams::ransac_fuseMaxDiffPhi, mrpt::tfest::TSE2RobustParams::ransac_fuseMaxDiffXY, mrpt::tfest::TSE2RobustParams::ransac_mahalanobisDistanceThreshold, mrpt::tfest::TSE2RobustParams::ransac_maxSetSize, mrpt::tfest::TSE2RobustParams::ransac_minSetSize, mrpt::tfest::TSE2RobustParams::ransac_nSimulations, mrpt::maps::CSimplePointsMap::reserve(), mrpt::round(), mrpt::img::CImage::saveToFile(), mrpt::tfest::se2_l2(), mrpt::tfest::se2_l2_robust(), mrpt::slam::CGridMapAligner::TReturnInfo::sog1, mrpt::slam::CGridMapAligner::TReturnInfo::sog2, mrpt::slam::CGridMapAligner::TReturnInfo::sog3, mrpt::square(), mrpt::system::CTicTac::Tac(), mrpt::tfest::TMatchingPair::this_idx, mrpt::tfest::TMatchingPair::this_x, mrpt::tfest::TMatchingPair::this_y, mrpt::tfest::TMatchingPair::this_z, THROW_EXCEPTION, mrpt::system::CTicTac::Tic(), mrpt::tfest::TSE2RobustResult::transformation, mrpt::tfest::TSE2RobustParams::verbose, win, mrpt::math::TPoint2D_data< T >::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::math::TPoint2D_data< T >::y, and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const

inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also

writeToFile

Definition at line 190 of file COutputLogger.cpp.

getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string &  log_contents ) const

inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const

inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

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getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const

inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

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getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string &  msg_str ) const

inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

getLoggerName()

std::string COutputLogger::getLoggerName ( ) const

inherited

Return the name of the COutputLogger instance.

See also

setLoggerName

Definition at line 143 of file COutputLogger.cpp.

getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const

inlineinherited

See also

setMinLoggingLevel

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::apps::RawlogGrabberApp::dump_verbose_info(), mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel  level ) const

inlineinherited

Definition at line 202 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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logCond()

void COutputLogger::logCond ( const VerbosityLevel  level, bool  cond, const std::string &  msg_str  ) const

inherited

Log the given message only if the condition is satisfied.

See also

log, logFmt

Definition at line 131 of file COutputLogger.cpp.

logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t  userFunc )

inherited

Returns

true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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logFmt()

void COutputLogger::logFmt ( const VerbosityLevel  level, const char *  fmt,   ...  ) const

inherited

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));

// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);

See also

logStr, logCond

Definition at line 91 of file COutputLogger.cpp.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::hmtslam::CHMTSLAM::thread_3D_viewer(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), mrpt::hmtslam::CHMTSLAM::thread_TBI(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

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loggerReset()

void COutputLogger::loggerReset ( )

inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )

staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )

staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

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logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc )

inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

logStr()

void COutputLogger::logStr ( const VerbosityLevel  level, std::string_view  msg_str  ) const

inherited

Main method to add the specified message string to the logger.

See also

logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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setLoggerName()

void COutputLogger::setLoggerName ( const std::string &  name )

inherited

Set the name of the COutputLogger instance.

See also

getLoggerName

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), mrpt::apps::ICP_SLAM_App_Base::ICP_SLAM_App_Base(), mrpt::apps::ICP_SLAM_App_Live::ICP_SLAM_App_Live(), mrpt::apps::ICP_SLAM_App_Rawlog::ICP_SLAM_App_Rawlog(), mrpt::graphslam::CWindowManager::initCWindowManager(), mrpt::apps::MonteCarloLocalization_Base::MonteCarloLocalization_Base(), mrpt::apps::RBPF_SLAM_App_Base::RBPF_SLAM_App_Base(), and mrpt::apps::RBPF_SLAM_App_Rawlog::RBPF_SLAM_App_Rawlog().

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setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel  level )

inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level )

inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::math::ransac_detect_2D_lines(), and mrpt::apps::ICP_SLAM_App_Base::run().

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writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string *  fname_in = nullptr ) const

inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also

dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Member Data Documentation

logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}

inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 240 of file system/COutputLogger.h.

logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}

inherited

[Default=false] Enables storing all messages into an internal list.

See also

writeLogToFile, getLogAsString

Definition at line 243 of file system/COutputLogger.h.

m_grid_feat_extr

COccupancyGridMapFeatureExtractor mrpt::slam::CGridMapAligner::m_grid_feat_extr

private

Grid map features extractor.

Definition at line 242 of file CGridMapAligner.h.

m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}

protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 253 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

options

mrpt::slam::CGridMapAligner::TConfigParams mrpt::slam::CGridMapAligner::options

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), and mrpt::apps::CGridMapAlignerApp::run().