class mrpt::apps::CGridMapAlignerApp

Overview

grid-matching application wrapper class.

See also:

mrpt::slam::CGridMapAligner

#include <mrpt/apps/CGridMapAlignerApp.h>

class CGridMapAlignerApp: public mrpt::system::COutputLogger
{
public:
    // fields

    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 = "";
    bool is_match = false;
    bool is_detect_test = false;
    std::string RESULTS_DIR = "GRID-MATCHING_RESULTS";
    std::string fil_grid1;
    std::string fil_grid2;
    std::string OUTPUT_FIL;
    std::string CONFIG_FIL;
    double STD_NOISE_XY = 0;
    double STD_NOISE_PHI = 0;
    double STD_NOISE_LASER = 0;
    double GT_Ax = 0;
    double GT_Ay = 0;
    double 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;
    mrpt::poses::CPose2D estimateMean;
    mrpt::math::CMatrixDouble33 estimateCOV;

    // construction

    CGridMapAlignerApp();

    // methods

    void initialize(int argc, const char** argv);

    void initialize(
        int argc,
        char** argv
        );

    void run();
};

Inherited Members

public:
    // structs

    struct TMsg;

Methods

void initialize(int argc, const char** argv)

Initializes the application from CLI parameters.

Refer to the manpage of grid-matching. Throws on errors.

void run()

Runs with the current parameter set.

Throws on errors.