CGraphSlamHandler.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CGRAPHSLAMHANDLER_H
#define CGRAPHSLAMHANDLER_H
 
#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/config/CConfigFile.h>
#include <mrpt/core/exceptions.h>
#include <mrpt/system/COutputLogger.h>
#include <mrpt/system/filesystem.h>
 
#include <mrpt/graphslam/misc/CWindowObserver.h>
#include <mrpt/graphslam/misc/CWindowManager.h>
#include <mrpt/graphslam/apps_related/TUserOptionsChecker.h>
#include <mrpt/graphslam/CGraphSlamEngine.h>
 
#include <string>
#include <sstream>
#include <iostream>
 
/**\brief Manage variables and methods related to applications executing
 * graphSLAM using the mrpt-graphslam API.
 *
 * As a quick overview, CGraphSlamHandler class instances deal with the
 * following:
 * - Manage user interaction with the visuals (e.g. CDisplayWindow instance)
 * - Manage general user options (e.g. user output directory preferences)
 */
template <class GRAPH_T = mrpt::graphs::CNetworkOfPoses2DInf>
class CGraphSlamHandler
{
   public:
        /**\brief Constructor */
        CGraphSlamHandler(
                mrpt::system::COutputLogger* logger,
                mrpt::graphslam::apps::TUserOptionsChecker<GRAPH_T>* options_checker,
                const bool enable_visuals /*=true*/);
        /**\brief Destructor */
        ~CGraphSlamHandler();
        /**\brief Set the relevant filenames for instantiating CGraphSlamEngine
         * instance
         */
        void setFNames(
                const std::string& ini_fname, const std::string& rawlog_fname,
                const std::string& ground_truth_fname = std::string());
        /**\brief Print in a formatted manner the general configuraiton variables
         * for
         * the current graphSLAM execution
         *
         * \sa readConfigFname, getParamsAsString
         */
        void printParams() const;
        /**\name Fetch the general configuraiton variables for
         * the current graphSLAM execution
         */
        /**\{*/
        void getParamsAsString(std::string* str) const;
        std::string getParamsAsString() const;
        /**\}*/
        /**\brief Initialize visualization (e.g. the CDisplayWindow instance that
         * shows the overall graphSLAM execution)
         */
        void initVisualization();
        /**\brief Method to be called for parsing the rawlog file provided and for
         * running graphSLAM using that information
         */
        void execute();
        void initEngine(
                const std::string& node_reg_str, const std::string& edge_reg_str,
                const std::string& optimizer_str);
        /**\brief Override the results directory filename that was initially set in
         * the .ini file.
         */
        void setResultsDirName(const std::string& dirname);
 
   protected:
        /**\brief Initialize (clean up and create new files) the output directory.
         *
         * If directory already exists (most probably from previous runs), the user
         * is given 3 options:
         * - Remove the current directory contents
         * - Rename (and keep) the current directory contents
         * - Manually handle the conflict
         *
         * User can also set the .ini parameter user_decides_about_output_dir  flag
         * to false, if he doesn't care about the previous results directory. In
         * this case the 1st choice is picked.
         *
         * \param[in] Name of the output directory to be used
         *
         * \sa CGraphSlamEngine::initResultsFile
         */
        void initOutputDir(
                const std::string& output_dir_fname = "graphslam_results");
        /**\brief Query the CWindowObserver instance for any pressed keys that might
         * be of interest (e.g. <C-c>)
         *
         * \return True if graphslam execution is to be continued normally
         */
        bool queryObserverForEvents();
        /**\brief Read configuration variables for the current graphSLAM execution
         * from a .ini file
         *
         * \sa printParams
         */
        void readConfigFname(const std::string& fname);
        void saveResults(const std::string& output_dir_fname);
        void saveMap(const std::string& fname);
 
        std::string m_output_dir_fname;
        bool m_user_decides_about_output_dir;
 
        bool m_save_graph;
        bool m_save_3DScene;
        bool m_save_map;
 
        std::string m_ini_fname;
        std::string m_rawlog_fname;
        std::string m_gt_fname;
 
        std::string m_save_graph_fname;
        std::string m_save_3DScene_fname;
        std::string m_save_map_fname;
 
        mrpt::graphslam::CWindowManager* m_win_manager;
        mrpt::graphslam::CWindowObserver* m_win_observer;
        mrpt::gui::CDisplayWindow3D* m_win;
 
        mrpt::system::COutputLogger* m_logger;
 
        /**\brief Pointer to the engine instance
        */
        mrpt::graphslam::CGraphSlamEngine<GRAPH_T>* m_engine;
        /**\brief TUserOptionsChecker instance whose task is to evaluate the
         * Registration Decider, Optimizer instances that are given by the user.
         */
        mrpt::graphslam::apps::TUserOptionsChecker<GRAPH_T>* m_options_checker;
 
        bool m_do_save_results;
        bool m_has_set_fnames;
        bool m_enable_visuals;
};
 
#include "CGraphSlamHandler_impl.h"
 
#endif /* end of include guard: CGRAPHSLAMHANDLER_H */