mrpt::graphslam::CGraphSlamEngine< GRAPH_T > Class Template Reference

Detailed Description

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class mrpt::graphslam::CGraphSlamEngine< GRAPH_T >

Main file for the GraphSlamEngine.

Description

Given a dataset of measurements build a graph of nodes (keyframes) and constraints (edges) and solve it to find an estimation of the actual robot trajectory.

// TODO - change this description The template arguments are listed below:

• GRAPH_T: The type of Graph to be constructed and optimized. Currently CGraphSlamEngine works only with CPosePDFGaussianInf GRAPH_T instances.
• NODE_REGISTRAR: Class responsible of adding new nodes in the graph. Class should at least implement the deciders::CNodeRegistrationDecider interface provided in CNodeRegistrationDecider.h file.
• EDGE_REGISTRAR: Class responsible of adding new edges in the graph. Class should at least implement the deciders::CEdgeRegistrationDecider interface provided in CEdgeRegistrationDecider.h file.
• OPTIMIZER: Class responsible of optimizing the graph. Class should at least implement the optimizers::CGraphSlamOptimizer interface provided in CGraphSlamOptimizer.h file.

Note

The GRAPH_T resource is accessed after having locked the relevant section m_graph_section. Critical section is also locked prior to the calls to the deciders/optimizers .

.ini Configuration Parameters

The configuration parameters of the current decider class are listed below. These parameters are parsed from an external .ini configuration file from their respective section. If an optional parameter is not found a default value is used instead. If a mandatory/required parameter is not found a runtime error is raised. For a sample configuration file see $mrpt/share/mrpt/config_files/graphslam-engine/laser_odometry.ini (Modify $mrpt according to the path of your mrpt source directory).

• output_dir_fname
  • Section : GeneralConfiguration
  • Default value : 1 (LVL_INFO)
  • Required : FALSE
• user_decides_about_output_dir
  • Section : GeneralConfiguration
  • Default value : FALSE
  • Required : FALSE
  • Description : If flag true and in case of name conflict with output directory of the previous execution, a command-line is presented to the user to decide what to do about the new output directory. By default output directory from previous run is overwritten by the directory of the current run.
• ground_truth_file_format
  • Section : GeneralConfiguration
  • Default value : NavSimul
  • Required : FALSE
  • Description : Specify the format of the ground-truth file if one is provided. Currently CGraphSlamEngine supports ground truth files generated by the GridMapNavSimul tool or ground truth files corresponding to RGBD-TUM datasets.
  • Available Options: NavSimul, RGBD_TUM
• class_verbosity
  • Section : GeneralConfiguration
  • Default value : 1 (LVL_INFO)
  • Required : FALSE
• visualize_map
  • Section : VisualizationParameters
  • Default value : TRUE
  • Required : FALSE
• visualize_odometry_poses
  • Section : VisualizationParameters
  • Default value : TRUE
  • Required : FALSE
• visualize_estimated_trajectory
  • Section : VisualizationParameters
  • Default value : TRUE
  • Required : FALSE
• visualize_GT
  • Section : VisualizationParameters
  • Default value : TRUE
  • Required : FALSE
• visualize_SLAM_metric
  • Section : VisualizationParameters
  • Default value : TRUE
  • Required : FALSE
• enable_curr_pos_viewport
  • Section : VisualizationParameters
  • Default value : TRUE
  • Required : FALSE
  • Description : Applicable only when dealing with RGB-D datasets
• enable_range_viewport
  • Section : VisualizationParameters
  • Default value : TRUE
  • Required : FALSE
  • Description : Applicable only when dealing with RGB-D datasets
• enable_intensity_viewport
  • Section : VisualizationParameters
  • Default value : FALSE
  • Required : FALSE
  • Description : Applicable only when dealing with RGB-D datasets

Note

Implementation can be found in the file CGraphSlamEngine_impl.h

Definition at line 193 of file CGraphSlamEngine.h.

#include <mrpt/graphslam/CGraphSlamEngine.h>

Inheritance diagram for mrpt::graphslam::CGraphSlamEngine< GRAPH_T >:

Classes
struct	TRGBDInfoFileParams
	Struct responsible for keeping the parameters of the .info file in RGBD related datasets. More...

Public Types
typedef std::map< std::string, mrpt::utils::CFileOutputStream * >	fstreams_out
	Handy typedefs. More...
typedef std::map< std::string, mrpt::utils::CFileOutputStream * >::iterator	fstreams_out_it
	Map for iterating over output file streams. More...
typedef GRAPH_T::constraint_t	constraint_t
	Type of graph constraints. More...
typedef GRAPH_T::constraint_t::type_value	pose_t
	Type of underlying poses (2D/3D). More...
typedef GRAPH_T::global_pose_t	global_pose_t
typedef std::map< mrpt::utils::TNodeID, mrpt::obs::CObservation2DRangeScan::Ptr >	nodes_to_scans2D_t

Public Member Functions
	CGraphSlamEngine (const std::string &config_file, const std::string &rawlog_fname="", const std::string &fname_GT="", mrpt::graphslam::CWindowManager *win_manager=NULL, mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T > *node_reg=NULL, mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T > *edge_reg=NULL, mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_T > *optimizer=NULL)
	Constructor of CGraphSlamEngine class template. More...
virtual	~CGraphSlamEngine ()
	Default Destructor. More...
global_pose_t	getCurrentRobotPosEstimation () const
	Query CGraphSlamEngine instance for the current estimated robot position. More...
virtual void	getRobotEstimatedTrajectory (typename GRAPH_T::global_poses_t *graph_poses) const
virtual void	getNodeIDsOfEstimatedTrajectory (std::set< mrpt::utils::TNodeID > *nodes_set) const
	Return the list of nodeIDs which make up robot trajectory. More...
void	saveGraph (const std::string *fname_in=nullptr) const
	Wrapper method around the GRAPH_T::saveToTextFile method. More...
void	save3DScene (const std::string *fname_in=nullptr) const
	Wrapper method around the COpenGLScene::saveToFile method. More...
void	loadParams (const std::string &fname)
	Read the configuration variables from the .ini file specified by the user. More...
void	getParamsAsString (std::string *params_out) const
	Fill in the provided string with the class configuration parameters. More...
std::string	getParamsAsString () const
	Wrapper around getParamsAsString. More...
void	printParams () const
	Print the problem parameters to the console for verification. More...
bool	execGraphSlamStep (mrpt::obs::CObservation::Ptr &observation, size_t &rawlog_entry)
	Wrapper method around _execGraphSlamStep. More...
virtual bool	_execGraphSlamStep (mrpt::obs::CActionCollection::Ptr &action, mrpt::obs::CSensoryFrame::Ptr &observations, mrpt::obs::CObservation::Ptr &observation, size_t &rawlog_entry)
	Main class method responsible for parsing each measurement and for executing graphSLAM. More...
const GRAPH_T &	getGraph () const
	Return a reference to the underlying GRAPH_T instance. More...
std::string	getRawlogFname ()
	Return the filename of the used rawlog file. More...
void	generateReportFiles (const std::string &output_dir_fname_in)
	Generate and write to a corresponding report for each of the respective self/decider/optimizer classes. More...
void	getDeformationEnergyVector (std::vector< double > *vec_out) const
	Fill the given vector with the deformation energy values computed for the SLAM evaluation metric. More...
bool	getGraphSlamStats (std::map< std::string, int > *node_stats, std::map< std::string, int > *edge_stats, mrpt::system::TTimeStamp *timestamp=NULL)
	Fill the given maps with stats regarding the overall execution of graphslam. More...
Map computation and acquisition methods
Fill the given map based on the observations that have been recorded so far.
void	getMap (mrpt::maps::COccupancyGridMap2D::Ptr map, mrpt::system::TTimeStamp *acquisition_time=NULL) const
void	getMap (mrpt::maps::COctoMap::Ptr map, mrpt::system::TTimeStamp *acquisition_time=NULL) const
void	computeMap () const
	Compute the map of the environment based on the recorded measurements. More...
pause/resume execution
bool	isPaused () const
void	togglePause ()
void	resumeExec () const
void	pauseExec ()

Static Public Member Functions
ground-truth parsing methods
static void	readGTFile (const std::string &fname_GT, std::vector< mrpt::poses::CPose2D > *gt_poses, std::vector< mrpt::system::TTimeStamp > *gt_timestamps=NULL)
	Parse the ground truth .txt file and fill in the corresponding gt_poses vector. More...
static void	readGTFile (const std::string &fname_GT, std::vector< mrpt::poses::CPose3D > *gt_poses, std::vector< mrpt::system::TTimeStamp > *gt_timestamps=NULL)
static void	readGTFileRGBD_TUM (const std::string &fname_GT, std::vector< mrpt::poses::CPose2D > *gt_poses, std::vector< mrpt::system::TTimeStamp > *gt_timestamps=NULL)
	Parse the ground truth .txt file and fill in the corresponding m_GT_poses vector. More...

Protected Member Functions
void	initClass ()
	General initialization method to call from the Class Constructors. More...
void	initResultsFile (const std::string &fname)
	Automate the creation and initialization of a results file relevant to the application. More...
void	getDescriptiveReport (std::string *report_str) const
	Fill the provided string with a detailed report of the class state. More...
void	initCurrPosViewport ()
void	initGTVisualization ()
void	initOdometryVisualization ()
void	initEstimatedTrajectoryVisualization ()
void	initSlamMetricVisualization ()
void	decimateLaserScan (mrpt::obs::CObservation2DRangeScan &laser_scan_in, mrpt::obs::CObservation2DRangeScan *laser_scan_out, const int keep_every_n_entries=2)
	Cut down on the size of the given laser scan. More...
void	alignOpticalWithMRPTFrame ()
void	queryObserverForEvents ()
	Query the observer instance for any user events. More...
void	computeSlamMetric (mrpt::utils::TNodeID nodeID, size_t gt_index)
	Compare the SLAM result (estimated trajectory) with the GT path. More...
void	dumpVisibilityErrorMsg (std::string viz_flag, int sleep_time=500)
	Wrapper method that used for printing error messages in a consistent manner. More...
mrpt::opengl::CSetOfObjects::Ptr	setCurrentPositionModel (const std::string &model_name, const mrpt::utils::TColor &model_color=mrpt::utils::TColor(0, 0, 0), const size_t model_size=1, const pose_t &init_pose=pose_t())
	Set the opengl model that indicates the latest position of the trajectory at hand. More...
virtual void	monitorNodeRegistration (bool registered=false, std::string class_name="Class")
	Assert that the given nodes number matches the registered graph nodes, otherwise throw exception. More...
void	execDijkstraNodesEstimation ()
	Wrapper around the GRAPH_T::dijkstra_nodes_estimate. More...
Initialization of Visuals
Methods used for initializing various visualization features relevant to the application at hand. If the visual feature is specified by the user (via the .ini file) and if it is relevant to the application then the corresponding method is called in the initClass class method
void	initVisualization ()
void	initRangeImageViewport ()
void	initIntensityImageViewport ()
mrpt::opengl::CSetOfObjects::Ptr	initRobotModelVisualization ()
mrpt::opengl::CSetOfObjects::Ptr	initRobotModelVisualizationInternal (const mrpt::poses::CPose2D &p_unused)
	Method to help overcome the partial template specialization restriction of C++. More...
mrpt::opengl::CSetOfObjects::Ptr	initRobotModelVisualizationInternal (const mrpt::poses::CPose3D &p_unused)
Update of Visuals
Methods used for updating various visualization features relevant to the application at hand. If relevant to the application at hand update is periodically scheduled inside the execGraphSlam method
void	updateAllVisuals ()
	Wrapper around the deciders/optimizer updateVisuals methods. More...
void	updateRangeImageViewport ()
	In RGB-D TUM Datasets update the Range image displayed in a seperate viewport. More...
void	updateIntensityImageViewport ()
	In RGB-D TUM Datasets update the Intensity image displayed in a seperate viewport. More...
virtual void	updateCurrPosViewport ()
	Update the viewport responsible for displaying the graph-building procedure in the estimated position of the robot. More...
virtual mrpt::poses::CPose3D	getLSPoseForGridMapVisualization (const mrpt::utils::TNodeID nodeID) const
	return the 3D Pose of a LaserScan that is to be visualized. More...
virtual void	setObjectPropsFromNodeID (const mrpt::utils::TNodeID nodeID, mrpt::opengl::CSetOfObjects::Ptr &viz_object)
	Set the properties of the map visual object based on the nodeID that it was produced by. More...
void	initMapVisualization ()
void	updateMapVisualization (const std::map< mrpt::utils::TNodeID, mrpt::obs::CObservation2DRangeScan::Ptr > &nodes_to_laser_scans2D, bool full_update=false)
	Update the map visualization based on the current graphSLAM state. More...
void	updateGTVisualization ()
	Display the next ground truth position in the visualization window. More...
void	updateOdometryVisualization ()
	Update odometry-only cloud with latest odometry estimation. More...
void	updateEstimatedTrajectoryVisualization (bool full_update=false)
	Update the Esstimated robot trajectory with the latest estimated robot position. More...
void	updateSlamMetricVisualization ()
	Update the displayPlots window with the new information with regards to the metric. More...
Toggling of Visuals
Methods used for toggling various visualization features relevant to the application at hand.
void	toggleOdometryVisualization ()
void	toggleGTVisualization ()
void	toggleMapVisualization ()
void	toggleEstimatedTrajectoryVisualization ()

Static Protected Member Functions
static mrpt::system::TTimeStamp	getTimeStamp (const mrpt::obs::CActionCollection::Ptr action, const mrpt::obs::CSensoryFrame::Ptr observations, const mrpt::obs::CObservation::Ptr observation)
	Fill the TTimestamp in a consistent manner. More...
Class specific supplementary functions.
static double	accumulateAngleDiffs (const mrpt::poses::CPose2D &p1, const mrpt::poses::CPose2D &p2)
static double	accumulateAngleDiffs (const mrpt::poses::CPose3D &p1, const mrpt::poses::CPose3D &p2)

Protected Attributes
mrpt::utils::CTimeLogger	m_time_logger
	Time logger instance. More...
GRAPH_T	m_graph
	The graph object to be built and optimized. More...
const bool	m_enable_visuals
	Determine if we are to enable visualization support or not. More...
std::string	m_config_fname
std::string	m_rawlog_fname
	Rawlog file from which to read the measurements. More...
std::string	m_fname_GT
size_t	m_GT_poses_index
	Counter for reading back the GT_poses. More...
size_t	m_GT_poses_step
	Rate at which to read the GT poses. More...
bool	m_user_decides_about_output_dir
bool	m_has_read_config
bool	m_observation_only_dataset
fstreams_out	m_out_streams
	keeps track of the out fstreams so that they can be closed (if still open) in the class Dtor. More...
bool	m_is_paused
	Indicated if program is temporarily paused by the user. More...
const std::string	m_paused_message
	Message to be displayed while paused. More...
mrpt::graphslam::detail::CEdgeCounter	m_edge_counter
	Instance to keep track of all the edges + visualization related operations. More...
bool	m_use_GT
	Flag for specifying if we are going to use ground truth data at all. More...
std::vector< pose_t >	m_odometry_poses
std::vector< pose_t >	m_GT_poses
std::string	m_GT_file_format
nodes_to_scans2D_t	m_nodes_to_laser_scans2D
	Map of NodeIDs to their corresponding LaserScans. More...
mrpt::obs::CObservation2DRangeScan::Ptr	m_last_laser_scan2D
	Last laser scan that the current class instance received. More...
mrpt::obs::CObservation2DRangeScan::Ptr	m_first_laser_scan2D
	First recorded laser scan - assigned to the root. More...
mrpt::obs::CObservation3DRangeScan::Ptr	m_last_laser_scan3D
	Last laser scan that the current class instance received. More...
mrpt::math::CMatrixDouble33	m_rot_TUM_to_MRPT
size_t	m_robot_model_size
	How big are the robots going to be in the scene. More...
mrpt::utils::TNodeID	m_nodeID_max
	Internal counter for querying for the number of nodeIDs. More...
std::mutex	m_graph_section
	Mark graph modification/accessing explicitly for multithreaded implementation. More...
std::string	m_img_external_storage_dir
std::string	m_img_prev_path_base
struct mrpt::graphslam::CGraphSlamEngine::TRGBDInfoFileParams	m_info_params
double	m_dataset_grab_time
	Time it took to record the dataset. More...
mrpt::system::TTimeStamp	m_init_timestamp
	First recorded timestamp in the dataset. More...
mrpt::system::TTimeStamp	m_curr_timestamp
	Current dataset timestamp. More...
pose_t	m_curr_odometry_only_pose
	Current robot position based solely on odometry. More...
bool	m_request_to_exit
	Indicate whether the user wants to exit the application (e.g. More...
std::string	m_class_name
bool	m_is_first_time_node_reg
	Track the first node registration occurance. More...
std::vector< std::string >	m_supported_constraint_types
	MRPT CNetworkOfPoses constraint classes that are currently supported. More...
std::string	m_current_constraint_type
	Type of constraint currently in use. More...
Decider/Optimizer instances. Delegating the GRAPH_T tasks to these
classes makes up for a modular and configurable design
mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T > *	m_node_reg
mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T > *	m_edge_reg
mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_T > *	m_optimizer
Visualization - related objects
mrpt::graphslam::CWindowManager *	m_win_manager
mrpt::gui::CDisplayWindow3D *	m_win
mrpt::graphslam::CWindowObserver *	m_win_observer
mrpt::gui::CDisplayWindowPlots *	m_win_plot
	DisplayPlots instance for visualizing the evolution of the SLAM metric. More...
Visualization - related flags
Flags for visualizing various trajectories/objects of interest. These are set from the .ini configuration file. The actual visualization of these objects can be overriden if the user issues the corresponding keystrokes in the CDisplayWindow3D. In order for them to have any effect, a pointer to CDisplayWindow3D has to be given first.
bool	m_visualize_odometry_poses
bool	m_visualize_GT
bool	m_visualize_map
bool	m_visualize_estimated_trajectory
bool	m_visualize_SLAM_metric
bool	m_enable_curr_pos_viewport
bool	m_enable_intensity_viewport
bool	m_enable_range_viewport
textMessage - related Parameters
Parameters relevant to the textMessages appearing in the visualization window. These are divided into Y offsets: vertical position of the textMessage, starting from the top side. Indices: Unique ID number of each textMessage, used for updating it
double	m_offset_x_left
	Offset from the left side of the canvas. More...
double	m_offset_y_odometry
double	m_offset_y_GT
double	m_offset_y_estimated_traj
double	m_offset_y_timestamp
double	m_offset_y_current_constraint_type
double	m_offset_y_paused_message
int	m_text_index_odometry
int	m_text_index_GT
int	m_text_index_estimated_traj
int	m_text_index_timestamp
int	m_text_index_current_constraint_type
int	m_text_index_paused_message
User available keystrokes
Keystrokes for toggling the corresponding objects in the CDisplayWindow upon user press
std::string	m_keystroke_pause_exec
std::string	m_keystroke_odometry
std::string	m_keystroke_GT
std::string	m_keystroke_estimated_trajectory
std::string	m_keystroke_map
Trajectories colors
mrpt::utils::TColor	m_odometry_color
mrpt::utils::TColor	m_GT_color
mrpt::utils::TColor	m_estimated_traj_color
mrpt::utils::TColor	m_optimized_map_color
mrpt::utils::TColor	m_current_constraint_type_color
Slam Metric related variables
std::map< mrpt::utils::TNodeID, size_t >	m_nodeID_to_gt_indices
	Map from nodeIDs to their corresponding closest GT pose index. More...
double	m_curr_deformation_energy
std::vector< double >	m_deformation_energy_vec
Map-related objects
Cached version and corresponding flag of map
mrpt::maps::COccupancyGridMap2D::Ptr	m_gridmap_cached
mrpt::maps::CSimpleMap	m_simple_map_cached
	Acquired map in CSimpleMap representation. More...
mrpt::maps::COctoMap::Ptr	m_octomap_cached
bool	m_map_is_cached
	Indicates if the map is cached. More...
mrpt::system::TTimeStamp	m_map_acq_time
	Timestamp at which the map was computed. More...

Static Protected Attributes
static const std::string	header_sep = std::string(80, '-')
	Separator string to be used in debugging messages. More...
static const std::string	report_sep = std::string(2, '\n')

Member Typedef Documentation

constraint_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

typedef GRAPH_T::constraint_t mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::constraint_t

Type of graph constraints.

Definition at line 205 of file CGraphSlamEngine.h.

fstreams_out

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

typedef std::map<std::string, mrpt::utils::CFileOutputStream*> mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::fstreams_out

Handy typedefs.

Map for managing output file streams.

Definition at line 199 of file CGraphSlamEngine.h.

fstreams_out_it

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

typedef std::map<std::string, mrpt::utils::CFileOutputStream*>::iterator mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::fstreams_out_it

Map for iterating over output file streams.

Definition at line 202 of file CGraphSlamEngine.h.

global_pose_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

typedef GRAPH_T::global_pose_t mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::global_pose_t

Definition at line 208 of file CGraphSlamEngine.h.

nodes_to_scans2D_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

typedef std::map<mrpt::utils::TNodeID, mrpt::obs::CObservation2DRangeScan::Ptr> mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::nodes_to_scans2D_t

Definition at line 211 of file CGraphSlamEngine.h.

pose_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

typedef GRAPH_T::constraint_t::type_value mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::pose_t

Type of underlying poses (2D/3D).

Definition at line 207 of file CGraphSlamEngine.h.

Constructor & Destructor Documentation

CGraphSlamEngine()

template<class GRAPH_T >

mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::CGraphSlamEngine	(	const std::string &	config_file,
		const std::string &	rawlog_fname = "",
		const std::string &	fname_GT = "",
		mrpt::graphslam::CWindowManager *	win_manager = NULL,
		mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T > *	node_reg = NULL,
		mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T > *	edge_reg = NULL,
		mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_T > *	optimizer = NULL
	)

Constructor of CGraphSlamEngine class template.

// TODO - remove the deprecated arguments

Parameters

[in]	config_file	.ini file containing the configuration parameters for the CGraphSlamEngine as well as the deciders/optimizer classes that CGraphSlamEngine is using
[in]	win_manager	CwindowManager instance that includes a pointer to a CDisplayWindow3D and a CWindowObserver instance for properly interacting with the display window
[in]	rawlog_fname	.rawlog dataset file, containing the robot measurements. CGraphSlamEngine supports both MRPT rwalog formats but in order for graphSLAM to work as expected the rawlog foromat has to be supported by the every decider/optimizer class that CGraphSlamEngine makes use of.
[in]	fname_GT	Textfile containing the ground truth path of the robot. Currently the class can read ground truth files corresponding either to RGBD - TUM datasets or to rawlog files generated with the GridMapNavSimul MRPT application. // TODO add the deciders/optimizer

Note

If a nullptr CWindowManager pointer is porovided, the application runs on headless mode . In this case, no visual feedback is given but application receives a big boost in performance

Definition at line 26 of file CGraphSlamEngine_impl.h.

References mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initClass().

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~CGraphSlamEngine()

template<class GRAPH_T >

mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::~CGraphSlamEngine ( )

virtual

Default Destructor.

Definition at line 61 of file CGraphSlamEngine_impl.h.

References MRPT_LOG_DEBUG_STREAM, MRPT_LOG_INFO_STREAM, and mrpt::system::strCmpI().

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Member Function Documentation

_execGraphSlamStep()

template<class GRAPH_T >

bool mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::_execGraphSlamStep ( mrpt::obs::CActionCollection::Ptr &  action, mrpt::obs::CSensoryFrame::Ptr &  observations, mrpt::obs::CObservation::Ptr &  observation, size_t &  rawlog_entry  )

virtual

Main class method responsible for parsing each measurement and for executing graphSLAM.

Note

Method reads each measurement seperately, so the application that invokes it is responsibe for fetching the measurements (e.g. from a rawlog file).

Returns

False if the user has requested to exit the graphslam execution (e.g. pressed ctrl-c), True otherwise

Definition at line 538 of file CGraphSlamEngine_impl.h.

References ASSERT_, ASSERTMSG_, mrpt::format(), mrpt::system::getCurrentTime(), INVALID_TIMESTAMP, IS_CLASS, MRPT_END, MRPT_LOG_DEBUG_STREAM, MRPT_LOG_ERROR_STREAM, MRPT_START, mrpt::system::strCmpI(), THROW_EXCEPTION, mrpt::system::timeDifference(), and mrpt::system::timeToString().

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accumulateAngleDiffs() [1/2]

template<class GRAPH_T >

double mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::accumulateAngleDiffs ( const mrpt::poses::CPose2D &  p1, const mrpt::poses::CPose2D &  p2  )

staticprotected

Definition at line 2598 of file CGraphSlamEngine_impl.h.

References mrpt::poses::CPose2D::phi(), and mrpt::math::wrapToPi().

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accumulateAngleDiffs() [2/2]

template<class GRAPH_T >

double mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::accumulateAngleDiffs ( const mrpt::poses::CPose3D &  p1, const mrpt::poses::CPose3D &  p2  )

staticprotected

Definition at line 2604 of file CGraphSlamEngine_impl.h.

References mrpt::poses::CPose3D::pitch(), mrpt::poses::CPose3D::roll(), mrpt::math::wrapToPi(), and mrpt::poses::CPose3D::yaw().

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alignOpticalWithMRPTFrame()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::alignOpticalWithMRPTFrame ( )

protected

Definition at line 1592 of file CGraphSlamEngine_impl.h.

References ASSERT_, DEG2RAD, MRPT_END, MRPT_LOG_DEBUG_STREAM, and MRPT_START.

computeMap()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::computeMap ( ) const

inline

Compute the map of the environment based on the recorded measurements.

Warning

Currently only mrpt::obs::2DRangeScans are supported

See also

getMap

Definition at line 987 of file CGraphSlamEngine_impl.h.

References ASSERTMSG_, mrpt::format(), MRPT_END, MRPT_START, mrpt::system::now(), and THROW_EXCEPTION.

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computeSlamMetric()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::computeSlamMetric ( mrpt::utils::TNodeID  nodeID, size_t  gt_index  )

protected

Compare the SLAM result (estimated trajectory) with the GT path.

See A Comparison of SLAM Algorithms Based on a Graph of Relations for more details on this.

Definition at line 2520 of file CGraphSlamEngine_impl.h.

References MRPT_END, MRPT_LOG_DEBUG_STREAM, and MRPT_START.

decimateLaserScan()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::decimateLaserScan ( mrpt::obs::CObservation2DRangeScan &  laser_scan_in, mrpt::obs::CObservation2DRangeScan *  laser_scan_out, const int  keep_every_n_entries = 2  )

protected

Cut down on the size of the given laser scan.

Handy for reducing the size of the resulting mrpt::opengl::CSetOfObjects that would be inserted in the visualization scene. Increase the decimation rate - keep-every_n_entries - to reduce the computational cost of updating the map visualization

See also

updateMapVisualization

Definition at line 2043 of file CGraphSlamEngine_impl.h.

References mrpt::obs::CObservation2DRangeScan::loadFromVectors(), MRPT_END, MRPT_START, mrpt::obs::CObservation2DRangeScan::scan, mrpt::utils::ContainerReadOnlyProxyAccessor< STLCONTAINER >::size(), and mrpt::obs::CObservation2DRangeScan::validRange.

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dumpVisibilityErrorMsg()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::dumpVisibilityErrorMsg ( std::string  viz_flag, int  sleep_time = 500  )

protected

Wrapper method that used for printing error messages in a consistent manner.

Makes use of the COutputLogger instance. Prints error message when toggling illegal visual features in the display window

Definition at line 1820 of file CGraphSlamEngine_impl.h.

References MRPT_END, MRPT_LOG_ERROR_STREAM, and MRPT_START.

execDijkstraNodesEstimation()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::execDijkstraNodesEstimation ( )

protected

Wrapper around the GRAPH_T::dijkstra_nodes_estimate.

Update the global position of the nodes

Definition at line 888 of file CGraphSlamEngine_impl.h.

execGraphSlamStep()

template<class GRAPH_T >

bool mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::execGraphSlamStep	(	mrpt::obs::CObservation::Ptr &	observation,
		size_t &	rawlog_entry
	)

Wrapper method around _execGraphSlamStep.

Handy for not having to specify any action/observations objects

Returns

False if the user has requested to exit the graphslam execution (e.g. pressed ctrl-c), True otherwise

Definition at line 525 of file CGraphSlamEngine_impl.h.

generateReportFiles()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::generateReportFiles

(

const std::string &

output_dir_fname_in

)

Generate and write to a corresponding report for each of the respective self/decider/optimizer classes.

Parameters

[in]

output_dir_fname

directory name to generate the files in. Directory must be crated prior to this call

See also

getDescriptiveReport, CGraphSlamHandler::initOutputDir

Definition at line 2769 of file CGraphSlamEngine_impl.h.

References ASSERTMSG_, mrpt::system::directoryExists(), mrpt::format(), MRPT_END, MRPT_LOG_INFO_STREAM, and MRPT_START.

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getCurrentRobotPosEstimation()

template<class GRAPH_T >

GRAPH_T::global_pose_t mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getCurrentRobotPosEstimation

(

)

const

Query CGraphSlamEngine instance for the current estimated robot position.

Definition at line 101 of file CGraphSlamEngine_impl.h.

References MRPT_END, and MRPT_START.

getDeformationEnergyVector()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getDeformationEnergyVector

(

std::vector< double > *

vec_out

)

const

Fill the given vector with the deformation energy values computed for the SLAM evaluation metric.

Parameters

[out]

vec_out

deformation energy vector to be filled

See also

m_deformation_energy_vec

Definition at line 2870 of file CGraphSlamEngine_impl.h.

References ASSERT_, MRPT_END, and MRPT_START.

getDescriptiveReport()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getDescriptiveReport ( std::string *  report_str ) const

protected

Fill the provided string with a detailed report of the class state.

Report includes the following:

• Timing of important methods
• Properties fo class at the current time
• Logging of commands until current time

Note

Decider/Optimizer classes should also implement a getDescriptiveReport method for printing information on their part of the execution.

Definition at line 2678 of file CGraphSlamEngine_impl.h.

References MRPT_END, and MRPT_START.

getGraph()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

const GRAPH_T& mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getGraph ( ) const

inline

Return a reference to the underlying GRAPH_T instance.

Definition at line 369 of file CGraphSlamEngine.h.

References mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_graph.

getGraphSlamStats()

template<class GRAPH_T >

bool mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getGraphSlamStats	(	std::map< std::string, int > *	node_stats,
		std::map< std::string, int > *	edge_stats,
		mrpt::system::TTimeStamp *	timestamp = NULL
	)

Fill the given maps with stats regarding the overall execution of graphslam.

Definition at line 2728 of file CGraphSlamEngine_impl.h.

References ASSERTMSG_, MRPT_END, and MRPT_START.

getLSPoseForGridMapVisualization()

template<class GRAPH_T >

mrpt::poses::CPose3D mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getLSPoseForGridMapVisualization ( const mrpt::utils::TNodeID  nodeID ) const

protectedvirtual

return the 3D Pose of a LaserScan that is to be visualized.

Used during the computeMap call for the occupancy gridmap

Definition at line 1881 of file CGraphSlamEngine_impl.h.

getMap() [1/2]

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getMap	(	mrpt::maps::COccupancyGridMap2D::Ptr	map,
		mrpt::system::TTimeStamp *	acquisition_time = NULL
	)		const

Definition at line 935 of file CGraphSlamEngine_impl.h.

References ASSERT_, MRPT_END, and MRPT_START.

getMap() [2/2]

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getMap	(	mrpt::maps::COctoMap::Ptr	map,
		mrpt::system::TTimeStamp *	acquisition_time = NULL
	)		const

Definition at line 962 of file CGraphSlamEngine_impl.h.

References ASSERT_, MRPT_END, MRPT_START, and THROW_EXCEPTION.

getNodeIDsOfEstimatedTrajectory()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getNodeIDsOfEstimatedTrajectory ( std::set< mrpt::utils::TNodeID > *  nodes_set ) const

virtual

Return the list of nodeIDs which make up robot trajectory.

See also

updateEstimatedTrajectoryVisualization

Definition at line 123 of file CGraphSlamEngine_impl.h.

References ASSERT_, MRPT_END, and MRPT_START.

getParamsAsString() [1/2]

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getParamsAsString

(

std::string *

params_out

)

const

Fill in the provided string with the class configuration parameters.

See also

printParams

Definition at line 1115 of file CGraphSlamEngine_impl.h.

References ASSERT_, MRPT_END, and MRPT_START.

getParamsAsString() [2/2]

template<class GRAPH_T >

std::string mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getParamsAsString

(

)

const

Wrapper around getParamsAsString.

Returns the generated string instead of passing it as an argument to the call

See also

printParams

Definition at line 1104 of file CGraphSlamEngine_impl.h.

References MRPT_END, and MRPT_START.

getRawlogFname()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::string mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getRawlogFname ( )

inline

Return the filename of the used rawlog file.

Definition at line 371 of file CGraphSlamEngine.h.

References mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_rawlog_fname.

getRobotEstimatedTrajectory()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getRobotEstimatedTrajectory ( typename GRAPH_T::global_poses_t *  graph_poses ) const

virtual

Definition at line 112 of file CGraphSlamEngine_impl.h.

References ASSERT_, MRPT_END, and MRPT_START.

getTimeStamp()

template<class GRAPH_T >

mrpt::system::TTimeStamp mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getTimeStamp ( const mrpt::obs::CActionCollection::Ptr  action, const mrpt::obs::CSensoryFrame::Ptr  observations, const mrpt::obs::CObservation::Ptr  observation  )

staticprotected

Fill the TTimestamp in a consistent manner.

Method can be used in both MRPT Rawlog formats

Parameters

[in]	action_ptr	Pointer to the action (action-observations format)
[in]	observations	Pointer to list of observations (action-observations format)
[in]	observation	Pointer to single observation (observation-only format)

Note

if both action_ptr and observation_ptr contains valid timestamps, the action is preferred.

Returns

mrpt::system::TTimeStamp

Definition at line 1836 of file CGraphSlamEngine_impl.h.

References ASSERTMSG_, INVALID_TIMESTAMP, MRPT_END, and MRPT_START.

initClass()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initClass ( )

protected

General initialization method to call from the Class Constructors.

Note

Method is automatically called in the class constructor

Definition at line 133 of file CGraphSlamEngine_impl.h.

References ASSERT_, mrpt::system::extractFileDirectory(), mrpt::system::extractFileName(), mrpt::utils::find(), INVALID_NODEID, INVALID_TIMESTAMP, MRPT_END, MRPT_LOG_INFO_STREAM, MRPT_LOG_WARN_STREAM, MRPT_START, mrpt::system::pause(), mrpt::system::strCmpI(), and THROW_EXCEPTION.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::CGraphSlamEngine().

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initCurrPosViewport()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initCurrPosViewport ( )

protected

Definition at line 1354 of file CGraphSlamEngine_impl.h.

References ASSERT_, MRPT_END, and MRPT_START.

initEstimatedTrajectoryVisualization()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initEstimatedTrajectoryVisualization ( )

protected

Definition at line 2237 of file CGraphSlamEngine_impl.h.

References ASSERT_, mrpt::mrpt::format(), MRPT_END, and MRPT_START.

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initGTVisualization()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initGTVisualization ( )

protected

Definition at line 2074 of file CGraphSlamEngine_impl.h.

References ASSERT_, mrpt::mrpt::format(), MRPT_END, and MRPT_START.

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initIntensityImageViewport()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initIntensityImageViewport ( )

protected

Definition at line 1283 of file CGraphSlamEngine_impl.h.

References ASSERT_, MRPT_END, and MRPT_START.

initMapVisualization()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initMapVisualization ( )

protected

Definition at line 1888 of file CGraphSlamEngine_impl.h.

initOdometryVisualization()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initOdometryVisualization ( )

protected

Definition at line 2161 of file CGraphSlamEngine_impl.h.

References ASSERT_, mrpt::mrpt::format(), MRPT_END, and MRPT_START.

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initRangeImageViewport()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initRangeImageViewport ( )

protected

Definition at line 1216 of file CGraphSlamEngine_impl.h.

References ASSERT_, MRPT_END, and MRPT_START.

initResultsFile()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initResultsFile ( const std::string &  fname )

protected

Automate the creation and initialization of a results file relevant to the application.

Open the file (corresponding to the provided filename) and write an introductory message.

See also

CGraphSlamHandler::initOutputDir

Definition at line 1177 of file CGraphSlamEngine_impl.h.

References ASSERTMSG_, mrpt::system::dateTimeToString(), mrpt::system::fileNameStripInvalidChars(), mrpt::mrpt::format(), mrpt::system::getCurrentLocalTime(), mrpt::system::getCurrentTime(), MRPT_END, MRPT_LOG_INFO_STREAM, and MRPT_START.

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initRobotModelVisualization()

template<class GRAPH_T >

mrpt::opengl::CSetOfObjects::Ptr mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initRobotModelVisualization ( )

protected

Definition at line 1330 of file CGraphSlamEngine_impl.h.

initRobotModelVisualizationInternal() [1/2]

template<class GRAPH_T >

mrpt::opengl::CSetOfObjects::Ptr mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initRobotModelVisualizationInternal ( const mrpt::poses::CPose2D &  p_unused )

protected

Method to help overcome the partial template specialization restriction of C++.

Apply polymorphism by overloading function arguments instead

Definition at line 1338 of file CGraphSlamEngine_impl.h.

References mrpt::opengl::stock_objects::RobotPioneer().

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initRobotModelVisualizationInternal() [2/2]

template<class GRAPH_T >

mrpt::opengl::CSetOfObjects::Ptr mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initRobotModelVisualizationInternal ( const mrpt::poses::CPose3D &  p_unused )

protected

Definition at line 1347 of file CGraphSlamEngine_impl.h.

References mrpt::opengl::stock_objects::CornerXYZ().

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initSlamMetricVisualization()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initSlamMetricVisualization ( )

protected

Definition at line 2618 of file CGraphSlamEngine_impl.h.

References ASSERT_, MRPT_END, MRPT_LOG_DEBUG_STREAM, and MRPT_START.

initVisualization()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initVisualization ( )

protected

isPaused()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

bool mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::isPaused ( ) const

inline

Definition at line 451 of file CGraphSlamEngine.h.

References mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_is_paused.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::pauseExec(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::resumeExec(), and mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::togglePause().

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loadParams()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::loadParams

(

const std::string &

fname

)

Read the configuration variables from the .ini file specified by the user.

Method is automatically called, upon CGraphSlamEngine initialization

Definition at line 1042 of file CGraphSlamEngine_impl.h.

References ASSERTMSG_, mrpt::system::fileExists(), mrpt::mrpt::format(), MRPT_END, MRPT_LOG_INFO_STREAM, MRPT_START, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_int(), and mrpt::utils::CConfigFileBase::read_string().

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monitorNodeRegistration()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::monitorNodeRegistration ( bool  registered = false, std::string  class_name = "Class"  )

protectedvirtual

Assert that the given nodes number matches the registered graph nodes, otherwise throw exception.

Note

Method locks the graph internally.

logic_error if the expected node count mismatches with the graph current node count.

Definition at line 899 of file CGraphSlamEngine_impl.h.

References ASSERTMSG_, mrpt::format(), INVALID_NODEID, MRPT_END, MRPT_LOG_ERROR_STREAM, MRPT_START, and THROW_EXCEPTION.

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pauseExec()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::pauseExec ( )

inline

Definition at line 480 of file CGraphSlamEngine.h.

References mrpt::gui::CDisplayWindow3D::addTextMessage(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::isPaused(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_enable_visuals, mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_is_paused, mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_keystroke_pause_exec, mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_paused_message, mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_text_index_paused_message, mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_win, MRPT_LOG_WARN_STREAM, mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::queryObserverForEvents(), and mrpt::system::upperCase().

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::togglePause().

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printParams()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::printParams

(

)

const

Print the problem parameters to the console for verification.

Method is a wrapper around CGraphSlamEngine::getParamsAsString method

See also

getParamsAsString

Definition at line 1164 of file CGraphSlamEngine_impl.h.

References MRPT_END, and MRPT_START.

queryObserverForEvents()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::queryObserverForEvents ( )

inlineprotected

Query the observer instance for any user events.

Query the given observer for any events (keystrokes, mouse clicks, that may have occurred in the CDisplayWindow3D and fill in the corresponding class variables

Definition at line 1641 of file CGraphSlamEngine_impl.h.

References ASSERT_, ASSERTMSG_, MRPT_END, and MRPT_START.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::pauseExec().

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readGTFile() [1/2]

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::readGTFile ( const std::string &  fname_GT, std::vector< mrpt::poses::CPose2D > *  gt_poses, std::vector< mrpt::system::TTimeStamp > *  gt_timestamps = NULL  )

static

Parse the ground truth .txt file and fill in the corresponding gt_poses vector.

It is assumed that the rawlog, thererfore the groundtruth file has been generated using the GridMapNavSimul MRPT application. If not user should abide the ground-truth file format to that of the files generated by the GridMapNavSimul app.

See also

readGTFileRGBD_TUM

Parameters

[in]	fname_GT	Ground truth filename from which the measurements are to be read
[out]	gt_poses	std::vector which is to contain the 2D ground truth poses.
[out]	gt_timestamps	std::vector which is to contain the timestamps for the corresponding ground truth poses. Ignore this argument if timestamps are not needed.

Definition at line 1407 of file CGraphSlamEngine_impl.h.

References ASSERTMSG_, mrpt::utils::CFileInputStream::close(), mrpt::system::fileExists(), mrpt::utils::CFileInputStream::fileOpenCorrectly(), mrpt::format(), MRPT_END, MRPT_START, mrpt::utils::CFileInputStream::readLine(), and mrpt::system::tokenize().

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readGTFile() [2/2]

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::readGTFile ( const std::string &  fname_GT, std::vector< mrpt::poses::CPose3D > *  gt_poses, std::vector< mrpt::system::TTimeStamp > *  gt_timestamps = NULL  )

static

Definition at line 1465 of file CGraphSlamEngine_impl.h.

References THROW_EXCEPTION.

readGTFileRGBD_TUM()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::readGTFileRGBD_TUM ( const std::string &  fname_GT, std::vector< mrpt::poses::CPose2D > *  gt_poses, std::vector< mrpt::system::TTimeStamp > *  gt_timestamps = NULL  )

static

Parse the ground truth .txt file and fill in the corresponding m_GT_poses vector.

The poses returned are given with regards to the MRPT reference frame.

It is assumed that the groundtruth file has been generated using the rgbd_dataset2rawlog MRPT tool.

Parameters

[in]	fname_GT	Ground truth filename from which the measurements are to be read
[out]	gt_poses	std::vector which is to contain the 2D ground truth poses.
[out]	gt_timestamps	std::vector which is to contain the timestamps for the corresponding ground truth poses. Ignore this argument if timestamps are not needed.

See also

readGTFile, http://www.mrpt.org/Collection_of_Kinect_RGBD_datasets_with_ground_truth_CVPR_TUM_2011

Definition at line 1473 of file CGraphSlamEngine_impl.h.

References ASSERTMSG_, mrpt::utils::CFileInputStream::close(), mrpt::system::fileExists(), mrpt::utils::CFileInputStream::fileOpenCorrectly(), mrpt::format(), MRPT_END, MRPT_START, mrpt::math::CQuaternion< T >::r(), mrpt::utils::CFileInputStream::readLine(), mrpt::math::CQuaternion< T >::rpy(), mrpt::system::tokenize(), mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

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resumeExec()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::resumeExec ( ) const

inline

Definition at line 463 of file CGraphSlamEngine.h.

References mrpt::gui::CDisplayWindow3D::addTextMessage(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::isPaused(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_enable_visuals, mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_is_paused, mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_text_index_paused_message, mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_win, and MRPT_LOG_INFO_STREAM.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::togglePause().

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save3DScene()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::save3DScene

(

const std::string *

fname_in = nullptr

)

const

Wrapper method around the COpenGLScene::saveToFile method.

Parameters

[in]

Name

of the generated graph file - Defaults to "output_graph" if not set by the user

See also

saveGraph

Definition at line 2467 of file CGraphSlamEngine_impl.h.

References ASSERTMSG_, MRPT_END, MRPT_LOG_DEBUG_STREAM, MRPT_LOG_ERROR_STREAM, MRPT_LOG_INFO_STREAM, and MRPT_START.

saveGraph()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::saveGraph

(

const std::string *

fname_in = nullptr

)

const

Wrapper method around the GRAPH_T::saveToTextFile method.

Method saves the graph in the format used by TORO & HoG-man strategies

Parameters

[in]

fname_in

Name of the generated graph file - Defaults to "output_graph" if not set by the user

See also

save3DScene, http://www.mrpt.org/Robotics_file_formats

Definition at line 2442 of file CGraphSlamEngine_impl.h.

References MRPT_END, MRPT_LOG_INFO_STREAM, and MRPT_START.

setCurrentPositionModel()

template<class GRAPH_T >

mrpt::opengl::CSetOfObjects::Ptr mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::setCurrentPositionModel ( const std::string &  model_name, const mrpt::utils::TColor &  model_color = mrpt::utils::TColor(0, 0, 0), const size_t  model_size = 1, const pose_t &  init_pose = pose_t()  )

protected

Set the opengl model that indicates the latest position of the trajectory at hand.

Parameters

[in]	model_name	Name of the resulting opengl object.
[in]	model_color	Color of the object.
[in]	model_size	Scaling of the object.
[in]	init_pose	Initial position of the object.

Todo:

Use an airplane/quad model for 3D operations

Returns

CSetOfObjects::Ptr instance.

Note

Different model is used depending on whether we are running 2D or 3D SLAM.

Definition at line 2850 of file CGraphSlamEngine_impl.h.

References ASSERTMSG_, and model.

setObjectPropsFromNodeID()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::setObjectPropsFromNodeID ( const mrpt::utils::TNodeID  nodeID, mrpt::opengl::CSetOfObjects::Ptr &  viz_object  )

protectedvirtual

Set the properties of the map visual object based on the nodeID that it was produced by.

Derived classes may override this method if they want to have different visual properties (color, shape etc.) for different nodeIDs.

Note

Base class method sets only the color of the object

Definition at line 2033 of file CGraphSlamEngine_impl.h.

References MRPT_END, and MRPT_START.

toggleEstimatedTrajectoryVisualization()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::toggleEstimatedTrajectoryVisualization ( )

protected

Definition at line 1791 of file CGraphSlamEngine_impl.h.

References ASSERT_, MRPT_END, MRPT_LOG_INFO_STREAM, and MRPT_START.

toggleGTVisualization()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::toggleGTVisualization ( )

protected

Definition at line 1720 of file CGraphSlamEngine_impl.h.

References ASSERT_, MRPT_END, MRPT_LOG_INFO_STREAM, and MRPT_START.

toggleMapVisualization()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::toggleMapVisualization ( )

protected

Definition at line 1749 of file CGraphSlamEngine_impl.h.

References ASSERT_, MRPT_END, MRPT_LOG_INFO_STREAM, and MRPT_START.

toggleOdometryVisualization()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::toggleOdometryVisualization ( )

protected

Definition at line 1691 of file CGraphSlamEngine_impl.h.

References ASSERT_, MRPT_END, MRPT_LOG_INFO_STREAM, and MRPT_START.

togglePause()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::togglePause ( )

inline

Definition at line 452 of file CGraphSlamEngine.h.

References mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::isPaused(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::pauseExec(), and mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::resumeExec().

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updateAllVisuals()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateAllVisuals ( )

protected

Wrapper around the deciders/optimizer updateVisuals methods.

Definition at line 1237 of file CGraphSlamEngine_impl.h.

References MRPT_END, and MRPT_START.

updateCurrPosViewport()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateCurrPosViewport ( )

inlineprotectedvirtual

Update the viewport responsible for displaying the graph-building procedure in the estimated position of the robot.

Definition at line 1383 of file CGraphSlamEngine_impl.h.

References ASSERT_, MRPT_END, MRPT_LOG_DEBUG_STREAM, and MRPT_START.

updateEstimatedTrajectoryVisualization()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateEstimatedTrajectoryVisualization ( bool  full_update = false )

protected

Update the Esstimated robot trajectory with the latest estimated robot position.

Update CSetOfLines visualization object with the latest graph node position. If full update is asked, method clears the CSetOfLines object and redraws all the lines based on the updated (optimized) positions of the nodes

Definition at line 2288 of file CGraphSlamEngine_impl.h.

References ASSERT_, MRPT_END, MRPT_START, and mrpt::opengl::CRenderizable::setPose().

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updateGTVisualization()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateGTVisualization ( )

protected

Display the next ground truth position in the visualization window.

See also

updateOdometryVisualization

Definition at line 2124 of file CGraphSlamEngine_impl.h.

References ASSERT_, MRPT_END, MRPT_START, and mrpt::opengl::CRenderizable::setPose().

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updateIntensityImageViewport()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateIntensityImageViewport ( )

protected

In RGB-D TUM Datasets update the Intensity image displayed in a seperate viewport.

Definition at line 1303 of file CGraphSlamEngine_impl.h.

References ASSERT_, MRPT_END, and MRPT_START.

updateMapVisualization()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateMapVisualization ( const std::map< mrpt::utils::TNodeID, mrpt::obs::CObservation2DRangeScan::Ptr > &  nodes_to_laser_scans2D, bool  full_update = false  )

protected

Update the map visualization based on the current graphSLAM state.

Map is produced by arranging the range scans based on the estimated robot trajectory.

See also

updateEstimatedTrajectoryVisualization

Definition at line 1901 of file CGraphSlamEngine_impl.h.

References ASSERT_, mrpt::maps::CMetricMap::insertObservation(), MRPT_END, MRPT_LOG_DEBUG_STREAM, MRPT_START, mrpt::utils::CTicTac::Tac(), and mrpt::utils::CTicTac::Tic().

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updateOdometryVisualization()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateOdometryVisualization ( )

protected

Update odometry-only cloud with latest odometry estimation.

See also

updateGTVisualization

Definition at line 2204 of file CGraphSlamEngine_impl.h.

References ASSERT_, ASSERTMSG_, MRPT_END, MRPT_START, and mrpt::opengl::CRenderizable::setPose().

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updateRangeImageViewport()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateRangeImageViewport ( )

protected

In RGB-D TUM Datasets update the Range image displayed in a seperate viewport.

Definition at line 1252 of file CGraphSlamEngine_impl.h.

References ASSERT_, MRPT_END, and MRPT_START.

updateSlamMetricVisualization()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateSlamMetricVisualization ( )

protected

Update the displayPlots window with the new information with regards to the metric.

Definition at line 2643 of file CGraphSlamEngine_impl.h.

References ASSERT_, MRPT_END, and MRPT_START.

Member Data Documentation

header_sep

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

const std::string mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::header_sep = std::string(80, '-')

staticprotected

Separator string to be used in debugging messages.

Definition at line 1037 of file CGraphSlamEngine.h.

m_class_name

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::string mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_class_name

protected

Definition at line 1020 of file CGraphSlamEngine.h.

m_config_fname

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::string mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_config_fname

protected

Definition at line 781 of file CGraphSlamEngine.h.

m_curr_deformation_energy

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

double mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_curr_deformation_energy

protected

Definition at line 951 of file CGraphSlamEngine.h.

m_curr_odometry_only_pose

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

pose_t mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_curr_odometry_only_pose

protected

Current robot position based solely on odometry.

Definition at line 993 of file CGraphSlamEngine.h.

m_curr_timestamp

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::system::TTimeStamp mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_curr_timestamp

protected

Current dataset timestamp.

Definition at line 991 of file CGraphSlamEngine.h.

m_current_constraint_type

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::string mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_current_constraint_type

protected

Type of constraint currently in use.

Definition at line 1033 of file CGraphSlamEngine.h.

m_current_constraint_type_color

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::utils::TColor mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_current_constraint_type_color

protected

Definition at line 920 of file CGraphSlamEngine.h.

m_dataset_grab_time

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

double mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_dataset_grab_time

protected

Time it took to record the dataset.

Processing time should (at least) be equal to the grab time for the algorithm to run in real-time

Definition at line 986 of file CGraphSlamEngine.h.

m_deformation_energy_vec

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::vector<double> mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_deformation_energy_vec

protected

Definition at line 952 of file CGraphSlamEngine.h.

m_edge_counter

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::graphslam::detail::CEdgeCounter mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_edge_counter

protected

Instance to keep track of all the edges + visualization related operations.

Definition at line 886 of file CGraphSlamEngine.h.

m_edge_reg

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::graphslam::deciders::CEdgeRegistrationDecider<GRAPH_T>* mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_edge_reg

protected

Definition at line 774 of file CGraphSlamEngine.h.

m_enable_curr_pos_viewport

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

bool mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_enable_curr_pos_viewport

protected

Definition at line 831 of file CGraphSlamEngine.h.

m_enable_intensity_viewport

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

bool mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_enable_intensity_viewport

protected

Definition at line 832 of file CGraphSlamEngine.h.

m_enable_range_viewport

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

bool mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_enable_range_viewport

protected

Definition at line 833 of file CGraphSlamEngine.h.

m_enable_visuals

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

const bool mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_enable_visuals

protected

Determine if we are to enable visualization support or not.

Definition at line 779 of file CGraphSlamEngine.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::pauseExec(), and mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::resumeExec().

m_estimated_traj_color

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::utils::TColor mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_estimated_traj_color

protected

Definition at line 918 of file CGraphSlamEngine.h.

m_first_laser_scan2D

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::obs::CObservation2DRangeScan::Ptr mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_first_laser_scan2D

protected

First recorded laser scan - assigned to the root.

Definition at line 909 of file CGraphSlamEngine.h.

m_fname_GT

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::string mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_fname_GT

protected

Definition at line 789 of file CGraphSlamEngine.h.

m_graph

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

GRAPH_T mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_graph

protected

The graph object to be built and optimized.

Definition at line 767 of file CGraphSlamEngine.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getGraph().

m_graph_section

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::mutex mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_graph_section

mutableprotected

Mark graph modification/accessing explicitly for multithreaded implementation.

Definition at line 937 of file CGraphSlamEngine.h.

m_gridmap_cached

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::maps::COccupancyGridMap2D::Ptr mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_gridmap_cached

mutableprotected

Definition at line 1004 of file CGraphSlamEngine.h.

m_GT_color

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::utils::TColor mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_GT_color

protected

Definition at line 917 of file CGraphSlamEngine.h.

m_GT_file_format

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::string mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_GT_file_format

protected

Definition at line 900 of file CGraphSlamEngine.h.

m_GT_poses

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::vector<pose_t> mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_GT_poses

protected

Definition at line 898 of file CGraphSlamEngine.h.

m_GT_poses_index

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

size_t mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_GT_poses_index

protected

Counter for reading back the GT_poses.

Definition at line 792 of file CGraphSlamEngine.h.

m_GT_poses_step

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

size_t mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_GT_poses_step

protected

Rate at which to read the GT poses.

Definition at line 794 of file CGraphSlamEngine.h.

m_has_read_config

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

bool mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_has_read_config

protected

Definition at line 798 of file CGraphSlamEngine.h.

m_img_external_storage_dir

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::string mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_img_external_storage_dir

protected

Definition at line 941 of file CGraphSlamEngine.h.

m_img_prev_path_base

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::string mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_img_prev_path_base

protected

Definition at line 942 of file CGraphSlamEngine.h.

m_info_params

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

struct mrpt::graphslam::CGraphSlamEngine::TRGBDInfoFileParams mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_info_params

protected

m_init_timestamp

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::system::TTimeStamp mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_init_timestamp

protected

First recorded timestamp in the dataset.

Definition at line 989 of file CGraphSlamEngine.h.

m_is_first_time_node_reg

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

bool mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_is_first_time_node_reg

protected

Track the first node registration occurance.

Handy so that we can assign a measurement to the root node as well.

Definition at line 1025 of file CGraphSlamEngine.h.

m_is_paused

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

bool mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_is_paused

mutableprotected

Indicated if program is temporarily paused by the user.

Definition at line 838 of file CGraphSlamEngine.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::isPaused(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::pauseExec(), and mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::resumeExec().

m_keystroke_estimated_trajectory

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::string mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_keystroke_estimated_trajectory

protected

Definition at line 879 of file CGraphSlamEngine.h.

m_keystroke_GT

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::string mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_keystroke_GT

protected

Definition at line 878 of file CGraphSlamEngine.h.

m_keystroke_map

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::string mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_keystroke_map

protected

Definition at line 880 of file CGraphSlamEngine.h.

m_keystroke_odometry

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::string mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_keystroke_odometry

protected

Definition at line 877 of file CGraphSlamEngine.h.

m_keystroke_pause_exec

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::string mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_keystroke_pause_exec

protected

Definition at line 876 of file CGraphSlamEngine.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::pauseExec().

m_last_laser_scan2D

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::obs::CObservation2DRangeScan::Ptr mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_last_laser_scan2D

protected

Last laser scan that the current class instance received.

Definition at line 907 of file CGraphSlamEngine.h.

m_last_laser_scan3D

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::obs::CObservation3DRangeScan::Ptr mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_last_laser_scan3D

protected

Last laser scan that the current class instance received.

Definition at line 912 of file CGraphSlamEngine.h.

m_map_acq_time

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::system::TTimeStamp mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_map_acq_time

mutableprotected

Timestamp at which the map was computed.

Note

Common var for both 2D and 3D maps.

Definition at line 1017 of file CGraphSlamEngine.h.

m_map_is_cached

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

bool mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_map_is_cached

mutableprotected

Indicates if the map is cached.

Note

Common var for both 2D and 3D maps.

Definition at line 1012 of file CGraphSlamEngine.h.

m_node_reg

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_T>* mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_node_reg

protected

Definition at line 773 of file CGraphSlamEngine.h.

m_nodeID_max

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::utils::TNodeID mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_nodeID_max

protected

Internal counter for querying for the number of nodeIDs.

Handy for not locking the m_graph resource

Definition at line 933 of file CGraphSlamEngine.h.

m_nodeID_to_gt_indices

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::map<mrpt::utils::TNodeID, size_t> mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_nodeID_to_gt_indices

protected

Map from nodeIDs to their corresponding closest GT pose index.

Keep track of the nodeIDs instead of the node positions as the latter are about to change in the Edge Registration / Loop closing procedures

Definition at line 950 of file CGraphSlamEngine.h.

m_nodes_to_laser_scans2D

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

nodes_to_scans2D_t mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_nodes_to_laser_scans2D

protected

Map of NodeIDs to their corresponding LaserScans.

Definition at line 904 of file CGraphSlamEngine.h.

m_observation_only_dataset

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

bool mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_observation_only_dataset

protected

Definition at line 799 of file CGraphSlamEngine.h.

m_octomap_cached

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::maps::COctoMap::Ptr mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_octomap_cached

mutableprotected

Definition at line 1007 of file CGraphSlamEngine.h.

m_odometry_color

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::utils::TColor mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_odometry_color

protected

Definition at line 916 of file CGraphSlamEngine.h.

m_odometry_poses

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::vector<pose_t> mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_odometry_poses

protected

Definition at line 897 of file CGraphSlamEngine.h.

m_offset_x_left

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

double mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_offset_x_left

protected

Offset from the left side of the canvas.

Common for all the messages that are displayed on that side.

Definition at line 854 of file CGraphSlamEngine.h.

m_offset_y_current_constraint_type

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

double mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_offset_y_current_constraint_type

protected

Definition at line 860 of file CGraphSlamEngine.h.

m_offset_y_estimated_traj

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

double mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_offset_y_estimated_traj

protected

Definition at line 858 of file CGraphSlamEngine.h.

m_offset_y_GT

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

double mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_offset_y_GT

protected

Definition at line 857 of file CGraphSlamEngine.h.

m_offset_y_odometry

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

double mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_offset_y_odometry

protected

Definition at line 856 of file CGraphSlamEngine.h.

m_offset_y_paused_message

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

double mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_offset_y_paused_message

protected

Definition at line 861 of file CGraphSlamEngine.h.

m_offset_y_timestamp

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

double mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_offset_y_timestamp

protected

Definition at line 859 of file CGraphSlamEngine.h.

m_optimized_map_color

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::utils::TColor mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_optimized_map_color

protected

Definition at line 919 of file CGraphSlamEngine.h.

m_optimizer

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::graphslam::optimizers::CGraphSlamOptimizer<GRAPH_T>* mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_optimizer

protected

Definition at line 775 of file CGraphSlamEngine.h.

m_out_streams

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

fstreams_out mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_out_streams

protected

keeps track of the out fstreams so that they can be closed (if still open) in the class Dtor.

Definition at line 804 of file CGraphSlamEngine.h.

m_paused_message

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

const std::string mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_paused_message

protected

Message to be displayed while paused.

Definition at line 841 of file CGraphSlamEngine.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::pauseExec().

m_rawlog_fname

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::string mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_rawlog_fname

protected

Rawlog file from which to read the measurements.

If string is empty, process is to be run online

Definition at line 787 of file CGraphSlamEngine.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getRawlogFname().

m_request_to_exit

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

bool mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_request_to_exit

protected

Indicate whether the user wants to exit the application (e.g.

pressed by pressign ctrl-c)

Definition at line 998 of file CGraphSlamEngine.h.

m_robot_model_size

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

size_t mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_robot_model_size

protected

How big are the robots going to be in the scene.

Definition at line 928 of file CGraphSlamEngine.h.

m_rot_TUM_to_MRPT

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::math::CMatrixDouble33 mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_rot_TUM_to_MRPT

protected

Definition at line 926 of file CGraphSlamEngine.h.

m_simple_map_cached

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::maps::CSimpleMap mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_simple_map_cached

mutableprotected

Acquired map in CSimpleMap representation.

Definition at line 1006 of file CGraphSlamEngine.h.

m_supported_constraint_types

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::vector<std::string> mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_supported_constraint_types

protected

MRPT CNetworkOfPoses constraint classes that are currently supported.

Definition at line 1030 of file CGraphSlamEngine.h.

m_text_index_current_constraint_type

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

int mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_text_index_current_constraint_type

protected

Definition at line 867 of file CGraphSlamEngine.h.

m_text_index_estimated_traj

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

int mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_text_index_estimated_traj

protected

Definition at line 865 of file CGraphSlamEngine.h.

m_text_index_GT

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

int mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_text_index_GT

protected

Definition at line 864 of file CGraphSlamEngine.h.

m_text_index_odometry

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

int mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_text_index_odometry

protected

Definition at line 863 of file CGraphSlamEngine.h.

m_text_index_paused_message

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

int mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_text_index_paused_message

protected

Definition at line 868 of file CGraphSlamEngine.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::pauseExec(), and mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::resumeExec().

m_text_index_timestamp

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

int mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_text_index_timestamp

protected

Definition at line 866 of file CGraphSlamEngine.h.

m_time_logger

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::utils::CTimeLogger mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_time_logger

protected

Time logger instance.

Definition at line 764 of file CGraphSlamEngine.h.

m_use_GT

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

bool mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_use_GT

protected

Flag for specifying if we are going to use ground truth data at all.

This is set to true either if the evolution of the SLAM metric or the ground truth visualization is set to true.

Definition at line 894 of file CGraphSlamEngine.h.

m_user_decides_about_output_dir

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

bool mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_user_decides_about_output_dir

protected

Definition at line 796 of file CGraphSlamEngine.h.

m_visualize_estimated_trajectory

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

bool mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_visualize_estimated_trajectory

protected

Definition at line 829 of file CGraphSlamEngine.h.

m_visualize_GT

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

bool mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_visualize_GT

protected

Definition at line 827 of file CGraphSlamEngine.h.

m_visualize_map

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

bool mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_visualize_map

protected

Definition at line 828 of file CGraphSlamEngine.h.

m_visualize_odometry_poses

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

bool mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_visualize_odometry_poses

protected

Definition at line 826 of file CGraphSlamEngine.h.

m_visualize_SLAM_metric

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

bool mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_visualize_SLAM_metric

protected

Definition at line 830 of file CGraphSlamEngine.h.

m_win

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::gui::CDisplayWindow3D* mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_win

protected

Definition at line 809 of file CGraphSlamEngine.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::pauseExec(), and mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::resumeExec().

m_win_manager

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::graphslam::CWindowManager* mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_win_manager

protected

Definition at line 808 of file CGraphSlamEngine.h.

m_win_observer

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::graphslam::CWindowObserver* mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_win_observer

protected

Definition at line 810 of file CGraphSlamEngine.h.

m_win_plot

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::gui::CDisplayWindowPlots* mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::m_win_plot

protected

DisplayPlots instance for visualizing the evolution of the SLAM metric.

Definition at line 814 of file CGraphSlamEngine.h.

report_sep

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

const std::string mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::report_sep = std::string(2, '\n')

staticprotected

Definition at line 1038 of file CGraphSlamEngine.h.