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33 template <
class GRAPH_T = mrpt::graphs::CNetworkOfPoses2DInf>
40 const bool enable_visuals =
true);
46 const std::string& ini_fname,
const std::string& rawlog_fname,
47 const std::string& ground_truth_fname = std::string());
71 const std::string& node_reg_str,
const std::string& edge_reg_str,
72 const std::string& optimizer_str);
96 const std::string& output_dir_fname =
"graphslam_results");
109 void saveResults(
const std::string& output_dir_fname);
110 void saveMap(
const std::string& fname);
std::string m_save_3DScene_fname
void execute()
Method to be called for parsing the rawlog file provided and for running graphSLAM using that informa...
void initEngine(const std::string &node_reg_str, const std::string &edge_reg_str, const std::string &optimizer_str)
void readConfigFname(const std::string &fname)
Read configuration variables for the current graphSLAM execution from a .ini file.
mrpt::graphslam::CGraphSlamEngine< GRAPH_T > * m_engine
bool m_user_decides_about_output_dir
CGraphSlamHandler(mrpt::system::COutputLogger *logger, mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_T > *options_checker, const bool enable_visuals=true)
std::string m_save_map_fname
mrpt::graphslam::CWindowManager * m_win_manager
Monitor events in the visualization window.
Class acts as a container for storing pointers to mrpt::gui::CDisplayWindow3D, mrpt::graphslam::CWind...
mrpt::graphslam::CWindowObserver * m_win_observer
std::string getParamsAsString() const
void setFNames(const std::string &ini_fname, const std::string &rawlog_fname, const std::string &ground_truth_fname=std::string())
Set the relevant filenames for instantiating CGraphSlamEngine instance.
Class containing the declarations of supplementary methods that can be used in application-related co...
mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_T > * m_options_checker
TUserOptionsChecker instance whose task is to evaluate the Registration Decider, Optimizer instances ...
std::string m_output_dir_fname
Manage variables and methods related to applications executing graphSLAM using the mrpt-graphslam API...
std::string m_rawlog_fname
mrpt::gui::CDisplayWindow3D * m_win
void setResultsDirName(const std::string &dirname)
Override the results directory filename that was initially set in the .ini file.
void initOutputDir(const std::string &output_dir_fname="graphslam_results")
Initialize (clean up and create new files) the output directory.
void initVisualization()
Initialize visualization (e.g.
std::string m_save_graph_fname
mrpt::system::COutputLogger * m_logger
Versatile class for consistent logging and management of output messages.
void saveResults(const std::string &output_dir_fname)
void printParams() const
Print in a formatted manner the general configuraiton variables for the current graphSLAM execution.
bool queryObserverForEvents()
Query the CWindowObserver instance for any pressed keys that might be of interest (e....
A graphical user interface (GUI) for efficiently rendering 3D scenes in real-time.
Main file for the GraphSlamEngine.
void saveMap(const std::string &fname)
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