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 (mrpt::system::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 (mrpt::system::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 154 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
using	fstreams_out = std::map< std::string, mrpt::io::CFileOutputStream >
	Handy typedefs. More...
using	fstreams_out_it = typename fstreams_out::iterator
	Map for iterating over output file streams. More...
using	constraint_t = typename GRAPH_T::constraint_t
	Type of graph constraints. More...
using	pose_t = typename GRAPH_T::constraint_t::type_value
	Type of underlying poses (2D/3D). More...
using	global_pose_t = typename GRAPH_T::global_pose_t
using	nodes_to_scans2D_t = std::map< mrpt::graphs::TNodeID, mrpt::obs::CObservation2DRangeScan::Ptr >

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 GRAPH_T::global_poses_t	getRobotEstimatedTrajectory () const
virtual void	getNodeIDsOfEstimatedTrajectory (std::set< mrpt::graphs::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...

Static Public Attributes
static mrpt::system::TConsoleColor	logging_levels_to_colors [NUMBER_OF_VERBOSITY_LEVELS]
	Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...
static std::string	logging_levels_to_names [NUMBER_OF_VERBOSITY_LEVELS]
	Map from VerbosityLevels to their corresponding names. 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::graphs::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::img::TColor &model_color=mrpt::img::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::graphs::TNodeID nodeID) const
	return the 3D Pose of a LaserScan that is to be visualized. More...
virtual void	setObjectPropsFromNodeID (const mrpt::graphs::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::graphs::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::system::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::graphs::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...
VerbosityLevel	m_min_verbosity_level
	Provided messages with VerbosityLevel smaller than this value shall be ignored. 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::img::TColor	m_odometry_color
mrpt::img::TColor	m_GT_color
mrpt::img::TColor	m_estimated_traj_color
mrpt::img::TColor	m_optimized_map_color
mrpt::img::TColor	m_current_constraint_type_color
Slam Metric related variables
std::map< mrpt::graphs::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')

Private Member Functions
std::string	generateStringFromFormat (const char *fmt, va_list argp) const
	Helper method for generating a std::string instance from printf-like arguments. More...

Private Attributes
std::string	m_logger_name
std::deque< TMsg >	m_history
std::deque< output_logger_callback_t >	m_listCallbacks

Logging methods
void	logStr (const VerbosityLevel level, const std::string &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=NULL) 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)
bool	logging_enable_console_output
	[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
	[Default=false] Enables storing all messages into an internal list. More...

Member Typedef Documentation

constraint_t

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

using mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::constraint_t = typename GRAPH_T::constraint_t

Type of graph constraints.

Definition at line 165 of file CGraphSlamEngine.h.

fstreams_out

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

using mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::fstreams_out = std::map<std::string, mrpt::io::CFileOutputStream>

Handy typedefs.

Map for managing output file streams.

Definition at line 160 of file CGraphSlamEngine.h.

fstreams_out_it

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

using mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::fstreams_out_it = typename fstreams_out::iterator

Map for iterating over output file streams.

Definition at line 162 of file CGraphSlamEngine.h.

global_pose_t

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

using mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::global_pose_t = typename GRAPH_T::global_pose_t

Definition at line 168 of file CGraphSlamEngine.h.

nodes_to_scans2D_t

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

using mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::nodes_to_scans2D_t = std::map< mrpt::graphs::TNodeID, mrpt::obs::CObservation2DRangeScan::Ptr>

Definition at line 170 of file CGraphSlamEngine.h.

pose_t

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

using mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::pose_t = typename GRAPH_T::constraint_t::type_value

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

Definition at line 167 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 35 of file CGraphSlamEngine_impl.h.

~CGraphSlamEngine()

template<class GRAPH_T >

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

virtual

Default Destructor.

Definition at line 70 of file CGraphSlamEngine_impl.h.

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 526 of file CGraphSlamEngine_impl.h.

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 2559 of file CGraphSlamEngine_impl.h.

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 2565 of file CGraphSlamEngine_impl.h.

alignOpticalWithMRPTFrame()

template<class GRAPH_T >

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

protected

Definition at line 1569 of file CGraphSlamEngine_impl.h.

computeMap()

template<class GRAPH_T >

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

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 973 of file CGraphSlamEngine_impl.h.

computeSlamMetric()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::computeSlamMetric ( mrpt::graphs::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 2482 of file CGraphSlamEngine_impl.h.

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 2012 of file CGraphSlamEngine_impl.h.

dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const

inherited

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

See also

writeToFile

Definition at line 179 of file COutputLogger.cpp.

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 1791 of file CGraphSlamEngine_impl.h.

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 875 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 513 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 2728 of file CGraphSlamEngine_impl.h.

generateStringFromFormat()

std::string COutputLogger::generateStringFromFormat ( const char *  fmt, va_list  argp  ) const

privateinherited

Helper method for generating a std::string instance from printf-like arguments.

Definition at line 99 of file COutputLogger.cpp.

References mrpt::system::os::vsnprintf().

getCurrentRobotPosEstimation()

template<class GRAPH_T >

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

Query CGraphSlamEngine instance for the current estimated robot position.

Definition at line 98 of file CGraphSlamEngine_impl.h.

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 2833 of file CGraphSlamEngine_impl.h.

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 2638 of file CGraphSlamEngine_impl.h.

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 327 of file CGraphSlamEngine.h.

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 2687 of file CGraphSlamEngine_impl.h.

getLogAsString() [1/2]

std::string COutputLogger::getLogAsString ( ) const

inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 148 of file COutputLogger.cpp.

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

getLogAsString() [2/2]

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 143 of file COutputLogger.cpp.

getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const

inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 184 of file COutputLogger.cpp.

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

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 190 of file COutputLogger.cpp.

getLoggerName()

std::string COutputLogger::getLoggerName ( ) const

inherited

Return the name of the COutputLogger instance.

See also

setLoggerName

Definition at line 132 of file COutputLogger.cpp.

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

getLSPoseForGridMapVisualization()

template<class GRAPH_T >

mrpt::poses::CPose3D mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getLSPoseForGridMapVisualization ( const mrpt::graphs::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 1851 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 921 of file CGraphSlamEngine_impl.h.

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 948 of file CGraphSlamEngine_impl.h.

getMinLoggingLevel()

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

inlineinherited

See also

setMinLoggingLevel

Definition at line 200 of file system/COutputLogger.h.

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

Referenced by mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

getNodeIDsOfEstimatedTrajectory()

template<class GRAPH_T >

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

virtual

Return the list of nodeIDs which make up robot trajectory.

See also

updateEstimatedTrajectoryVisualization

Definition at line 113 of file CGraphSlamEngine_impl.h.

getParamsAsString() [1/2]

template<class GRAPH_T >

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

Wrapper around getParamsAsString.

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

See also

printParams

Definition at line 1088 of file CGraphSlamEngine_impl.h.

getParamsAsString() [2/2]

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 1099 of file CGraphSlamEngine_impl.h.

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 329 of file CGraphSlamEngine.h.

getRobotEstimatedTrajectory()

template<class GRAPH_T >

GRAPH_T::global_poses_t mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getRobotEstimatedTrajectory

virtual

Definition at line 106 of file CGraphSlamEngine_impl.h.

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 1806 of file CGraphSlamEngine_impl.h.

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 121 of file CGraphSlamEngine_impl.h.

initCurrPosViewport()

template<class GRAPH_T >

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

protected

Definition at line 1337 of file CGraphSlamEngine_impl.h.

initEstimatedTrajectoryVisualization()

template<class GRAPH_T >

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

protected

Definition at line 2203 of file CGraphSlamEngine_impl.h.

initGTVisualization()

template<class GRAPH_T >

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

protected

Definition at line 2042 of file CGraphSlamEngine_impl.h.

initIntensityImageViewport()

template<class GRAPH_T >

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

protected

Definition at line 1266 of file CGraphSlamEngine_impl.h.

initMapVisualization()

template<class GRAPH_T >

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

protected

Definition at line 1858 of file CGraphSlamEngine_impl.h.

initOdometryVisualization()

template<class GRAPH_T >

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

protected

Definition at line 2128 of file CGraphSlamEngine_impl.h.

initRangeImageViewport()

template<class GRAPH_T >

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

protected

Definition at line 1199 of file CGraphSlamEngine_impl.h.

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 1161 of file CGraphSlamEngine_impl.h.

initRobotModelVisualization()

template<class GRAPH_T >

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

protected

Definition at line 1313 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 1321 of file CGraphSlamEngine_impl.h.

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 1330 of file CGraphSlamEngine_impl.h.

initSlamMetricVisualization()

template<class GRAPH_T >

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

protected

Definition at line 2579 of file CGraphSlamEngine_impl.h.

initVisualization()

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

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

protected

isLoggingLevelVisible()

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

inlineinherited

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

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

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

isPaused()

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

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

inline

Definition at line 409 of file CGraphSlamEngine.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< mrpt::graphs::CNetworkOfPoses2DInf >::pauseExec(), mrpt::graphslam::CGraphSlamEngine< mrpt::graphs::CNetworkOfPoses2DInf >::resumeExec(), and mrpt::graphslam::CGraphSlamEngine< mrpt::graphs::CNetworkOfPoses2DInf >::togglePause().

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 1027 of file CGraphSlamEngine_impl.h.

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 120 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 287 of file COutputLogger.cpp.

References getAddress().

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 80 of file COutputLogger.cpp.

Referenced by 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(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

loggerReset()

void COutputLogger::loggerReset ( )

inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc )

inherited

Definition at line 274 of file COutputLogger.cpp.

logStr()

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

inherited

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

See also

logCond, logFmt

Definition at line 61 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(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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.

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

Definition at line 886 of file CGraphSlamEngine_impl.h.

pauseExec()

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

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

inline

Definition at line 438 of file CGraphSlamEngine.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< mrpt::graphs::CNetworkOfPoses2DInf >::togglePause().

printParams()

template<class GRAPH_T >

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

Print the problem parameters to the console for verification.

Method is a wrapper around CGraphSlamEngine::getParamsAsString method

See also

getParamsAsString

Definition at line 1148 of file CGraphSlamEngine_impl.h.

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 1617 of file CGraphSlamEngine_impl.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< mrpt::graphs::CNetworkOfPoses2DInf >::pauseExec().

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 1389 of file CGraphSlamEngine_impl.h.

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 1446 of file CGraphSlamEngine_impl.h.

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 1454 of file CGraphSlamEngine_impl.h.

resumeExec()

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

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

inline

Definition at line 421 of file CGraphSlamEngine.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< mrpt::graphs::CNetworkOfPoses2DInf >::togglePause().

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 2430 of file CGraphSlamEngine_impl.h.

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 2406 of file CGraphSlamEngine_impl.h.

setCurrentPositionModel()

template<class GRAPH_T >

mrpt::opengl::CSetOfObjects::Ptr mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::setCurrentPositionModel ( const std::string &  model_name, const mrpt::img::TColor &  model_color = mrpt::img::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 2813 of file CGraphSlamEngine_impl.h.

setLoggerName()

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

inherited

Set the name of the COutputLogger instance.

See also

getLoggerName

Definition at line 127 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), and mrpt::graphslam::CWindowManager::initCWindowManager().

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 133 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), mrpt::hwdrivers::CHokuyoURG::initialize(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

setObjectPropsFromNodeID()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::setObjectPropsFromNodeID ( const mrpt::graphs::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 2002 of file CGraphSlamEngine_impl.h.

setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level )

inherited

alias of setMinLoggingLevel()

Definition at line 138 of file COutputLogger.cpp.

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

toggleEstimatedTrajectoryVisualization()

template<class GRAPH_T >

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

protected

Definition at line 1763 of file CGraphSlamEngine_impl.h.

toggleGTVisualization()

template<class GRAPH_T >

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

protected

Definition at line 1694 of file CGraphSlamEngine_impl.h.

toggleMapVisualization()

template<class GRAPH_T >

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

protected

Definition at line 1722 of file CGraphSlamEngine_impl.h.

toggleOdometryVisualization()

template<class GRAPH_T >

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

protected

Definition at line 1666 of file CGraphSlamEngine_impl.h.

togglePause()

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

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

inline

Definition at line 410 of file CGraphSlamEngine.h.

updateAllVisuals()

template<class GRAPH_T >

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

protected

Wrapper around the deciders/optimizer updateVisuals methods.

Definition at line 1220 of file CGraphSlamEngine_impl.h.

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 1366 of file CGraphSlamEngine_impl.h.

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 2253 of file CGraphSlamEngine_impl.h.

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 2091 of file CGraphSlamEngine_impl.h.

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 1286 of file CGraphSlamEngine_impl.h.

updateMapVisualization()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateMapVisualization ( const std::map< mrpt::graphs::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 1871 of file CGraphSlamEngine_impl.h.

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 2170 of file CGraphSlamEngine_impl.h.

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 1235 of file CGraphSlamEngine_impl.h.

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 2603 of file CGraphSlamEngine_impl.h.

writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string *  fname_in = NULL ) 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 154 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

Member Data Documentation

header_sep

template<class GRAPH_T >

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 995 of file CGraphSlamEngine.h.

logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output

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 239 of file system/COutputLogger.h.

logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record

inherited

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

See also

writeLogToFile, getLogAsString

Definition at line 242 of file system/COutputLogger.h.

logging_levels_to_colors

mrpt::system::TConsoleColor COutputLogger::logging_levels_to_colors

staticinherited

Initial value:

= {
                CONCOL_BLUE,  
                CONCOL_NORMAL,  
                CONCOL_GREEN,  
                CONCOL_RED  
}

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

Implementation file for the COutputLogger header class.

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

Definition at line 124 of file system/COutputLogger.h.

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

logging_levels_to_names

std::string COutputLogger::logging_levels_to_names

staticinherited

Initial value:

=
        {
                "DEBUG",  
                "INFO ",  
                "WARN ",  
                "ERROR"  
}

Map from VerbosityLevels to their corresponding names.

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

Definition at line 129 of file system/COutputLogger.h.

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

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 978 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 739 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 909 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 951 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 949 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 991 of file CGraphSlamEngine.h.

m_current_constraint_type_color

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

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

protected

Definition at line 878 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 944 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 910 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 844 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 732 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 789 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 790 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 791 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 737 of file CGraphSlamEngine.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< mrpt::graphs::CNetworkOfPoses2DInf >::pauseExec(), and mrpt::graphslam::CGraphSlamEngine< mrpt::graphs::CNetworkOfPoses2DInf >::resumeExec().

m_estimated_traj_color

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

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

protected

Definition at line 876 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 867 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 747 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 725 of file CGraphSlamEngine.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< mrpt::graphs::CNetworkOfPoses2DInf >::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 895 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 962 of file CGraphSlamEngine.h.

m_GT_color

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

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

protected

Definition at line 875 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 858 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 856 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 750 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 752 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 756 of file CGraphSlamEngine.h.

m_history

std::deque<TMsg> mrpt::system::COutputLogger::m_history

mutableprivateinherited

Definition at line 312 of file system/COutputLogger.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 899 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 900 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 947 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 983 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 796 of file CGraphSlamEngine.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< mrpt::graphs::CNetworkOfPoses2DInf >::isPaused(), mrpt::graphslam::CGraphSlamEngine< mrpt::graphs::CNetworkOfPoses2DInf >::pauseExec(), and mrpt::graphslam::CGraphSlamEngine< mrpt::graphs::CNetworkOfPoses2DInf >::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 837 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 836 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 838 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 835 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 834 of file CGraphSlamEngine.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< mrpt::graphs::CNetworkOfPoses2DInf >::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 865 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 870 of file CGraphSlamEngine.h.

m_listCallbacks

std::deque<output_logger_callback_t> mrpt::system::COutputLogger::m_listCallbacks

privateinherited

Definition at line 314 of file system/COutputLogger.h.

m_logger_name

std::string mrpt::system::COutputLogger::m_logger_name

privateinherited

Definition at line 310 of file system/COutputLogger.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 975 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 970 of file CGraphSlamEngine.h.

m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level

protectedinherited

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

Definition at line 252 of file system/COutputLogger.h.

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

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 731 of file CGraphSlamEngine.h.

m_nodeID_max

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

mrpt::graphs::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 891 of file CGraphSlamEngine.h.

m_nodeID_to_gt_indices

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

std::map<mrpt::graphs::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 908 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 862 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 757 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 965 of file CGraphSlamEngine.h.

m_odometry_color

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

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

protected

Definition at line 874 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 855 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 812 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 818 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 816 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 815 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 814 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 819 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 817 of file CGraphSlamEngine.h.

m_optimized_map_color

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

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

protected

Definition at line 877 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 733 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 762 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 799 of file CGraphSlamEngine.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< mrpt::graphs::CNetworkOfPoses2DInf >::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 745 of file CGraphSlamEngine.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< mrpt::graphs::CNetworkOfPoses2DInf >::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 956 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 886 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 884 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 964 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 988 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 825 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 823 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 822 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 821 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 826 of file CGraphSlamEngine.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< mrpt::graphs::CNetworkOfPoses2DInf >::pauseExec(), and mrpt::graphslam::CGraphSlamEngine< mrpt::graphs::CNetworkOfPoses2DInf >::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 824 of file CGraphSlamEngine.h.

m_time_logger

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

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

protected

Time logger instance.

Definition at line 722 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 852 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 754 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 787 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 785 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 786 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 784 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 788 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 767 of file CGraphSlamEngine.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< mrpt::graphs::CNetworkOfPoses2DInf >::pauseExec(), and mrpt::graphslam::CGraphSlamEngine< mrpt::graphs::CNetworkOfPoses2DInf >::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 766 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 768 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 772 of file CGraphSlamEngine.h.

report_sep

template<class GRAPH_T >

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

staticprotected

Definition at line 996 of file CGraphSlamEngine.h.