MRPT  2.0.4
CGridMapAlignerApp.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
13 
14 namespace mrpt::apps
15 {
16 /** grid-matching application wrapper class.
17  *
18  * \sa mrpt::slam::CGridMapAligner
19  * \ingroup mrpt_apps_grp
20  */
22 {
23  public:
25 
26  /** @name Main API
27  * @{ */
28 
29  /** Initializes the application from CLI parameters. Refer to the manpage of
30  * grid-matching. Throws on errors.
31  */
32  void initialize(int argc, const char** argv);
33 
34  inline void initialize(int argc, char** argv)
35  {
36  initialize(argc, const_cast<const char**>(argv));
37  }
38 
39  /** Runs with the current parameter set. Throws on errors. */
40  void run();
41 
42  /** @} */
43 
44  /** @name Parameters and options. See: initialize()
45  * @{ */
46 
47  bool SAVE_SOG_3DSCENE = false;
50  bool IS_VERBOSE = false;
51  bool NOSAVE = false;
52  bool SKIP_ICP_STAGE = false;
54 
55  std::string SAVE_ICP_GOODNESS_FIL = "";
56 
57  // Mode of operation
58  bool is_match = false, is_detect_test = false;
59 
60  std::string RESULTS_DIR = "GRID-MATCHING_RESULTS";
61  std::string fil_grid1, fil_grid2;
62  std::string OUTPUT_FIL;
63  std::string CONFIG_FIL;
64 
65  double STD_NOISE_XY = 0, STD_NOISE_PHI = 0;
66  double STD_NOISE_LASER = 0;
67  double GT_Ax = 0, GT_Ay = 0, GT_Aphi_rad = 0;
68 
69  bool NOISE_IN_LASER = false;
70  bool NOISE_IN_POSE = false;
71 
72  unsigned int N_ITERS = 1;
73 
76  /** @} */
77 
78  /** @name Outputs and result variables
79  * @{ */
82 
83  /** @} */
84 };
85 
86 } // namespace mrpt::apps
mrpt::apps::CGridMapAlignerApp::GT_Aphi_rad
double GT_Aphi_rad
Definition: CGridMapAlignerApp.h:67
mrpt::apps::CGridMapAlignerApp::fil_grid1
std::string fil_grid1
Definition: CGridMapAlignerApp.h:61
mrpt::apps::CGridMapAlignerApp::GT_Ay
double GT_Ay
Definition: CGridMapAlignerApp.h:67
mrpt::apps::CGridMapAlignerApp::estimateCOV
mrpt::math::CMatrixDouble33 estimateCOV
Definition: CGridMapAlignerApp.h:81
mrpt::apps::CGridMapAlignerApp::SAVE_SOG_ALL_MAPS_OVERLAP_HYPOTHESES
bool SAVE_SOG_ALL_MAPS_OVERLAP_HYPOTHESES
Definition: CGridMapAlignerApp.h:48
mrpt::apps::CGridMapAlignerApp::CONFIG_FIL
std::string CONFIG_FIL
Definition: CGridMapAlignerApp.h:63
mrpt::apps::CGridMapAlignerApp::STD_NOISE_PHI
double STD_NOISE_PHI
Definition: CGridMapAlignerApp.h:65
mrpt::apps::CGridMapAlignerApp::initialize
void initialize(int argc, char **argv)
Definition: CGridMapAlignerApp.h:34
mrpt::apps::CGridMapAlignerApp::OUTPUT_FIL
std::string OUTPUT_FIL
Definition: CGridMapAlignerApp.h:62
mrpt::apps::CGridMapAlignerApp::initialize
void initialize(int argc, const char **argv)
Initializes the application from CLI parameters.
Definition: CGridMapAlignerApp.cpp:46
mrpt::apps::CGridMapAlignerApp::NOISE_IN_LASER
bool NOISE_IN_LASER
Definition: CGridMapAlignerApp.h:69
mrpt::apps::CGridMapAlignerApp::SAVE_CORR_AND_NONCORR_DISTS
bool SAVE_CORR_AND_NONCORR_DISTS
Definition: CGridMapAlignerApp.h:49
mrpt::apps::CGridMapAlignerApp::is_detect_test
bool is_detect_test
Definition: CGridMapAlignerApp.h:58
mrpt::apps::CGridMapAlignerApp
grid-matching application wrapper class.
Definition: CGridMapAlignerApp.h:21
mrpt::apps::CGridMapAlignerApp::SKIP_ICP_STAGE
bool SKIP_ICP_STAGE
Definition: CGridMapAlignerApp.h:52
mrpt::apps::CGridMapAlignerApp::STD_NOISE_LASER
double STD_NOISE_LASER
Definition: CGridMapAlignerApp.h:66
mrpt::apps::CGridMapAlignerApp::RESULTS_DIR
std::string RESULTS_DIR
Definition: CGridMapAlignerApp.h:60
mrpt::apps::CGridMapAlignerApp::MOST_LIKELY_SOG_MODE_ONLY
bool MOST_LIKELY_SOG_MODE_ONLY
Definition: CGridMapAlignerApp.h:53
mrpt::apps::CGridMapAlignerApp::N_ITERS
unsigned int N_ITERS
Definition: CGridMapAlignerApp.h:72
mrpt::math::CMatrixFixed< double, 3, 3 >
CGridMapAligner.h
COutputLogger.h
mrpt::poses::CPose2D
A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle.
Definition: CPose2D.h:39
mrpt::apps::CGridMapAlignerApp::fil_grid2
std::string fil_grid2
Definition: CGridMapAlignerApp.h:61
mrpt::apps
Definition: BaseAppDataSource.h:15
argv
const char * argv[]
Definition: RawlogGrabberApp_unittest.cpp:50
mrpt::system::COutputLogger
Versatile class for consistent logging and management of output messages.
Definition: system/COutputLogger.h:117
mrpt::apps::CGridMapAlignerApp::run
void run()
Runs with the current parameter set.
Definition: CGridMapAlignerApp.cpp:211
mrpt::apps::CGridMapAlignerApp::NOISE_IN_POSE
bool NOISE_IN_POSE
Definition: CGridMapAlignerApp.h:70
mrpt::apps::CGridMapAlignerApp::GT_Ax
double GT_Ax
Definition: CGridMapAlignerApp.h:67
argc
const int argc
Definition: RawlogGrabberApp_unittest.cpp:51
mrpt::apps::CGridMapAlignerApp::estimateMean
mrpt::poses::CPose2D estimateMean
Definition: CGridMapAlignerApp.h:80
mrpt::apps::CGridMapAlignerApp::is_match
bool is_match
Definition: CGridMapAlignerApp.h:58
mrpt::apps::CGridMapAlignerApp::SAVE_ICP_GOODNESS_FIL
std::string SAVE_ICP_GOODNESS_FIL
Definition: CGridMapAlignerApp.h:55
mrpt::apps::CGridMapAlignerApp::STD_NOISE_XY
double STD_NOISE_XY
Definition: CGridMapAlignerApp.h:65
mrpt::slam::CGridMapAligner::amModifiedRANSAC
@ amModifiedRANSAC
Definition: CGridMapAligner.h:50
mrpt::apps::CGridMapAlignerApp::SAVE_SOG_3DSCENE
bool SAVE_SOG_3DSCENE
Definition: CGridMapAlignerApp.h:47
mrpt::apps::CGridMapAlignerApp::CGridMapAlignerApp
CGridMapAlignerApp()
Definition: CGridMapAlignerApp.cpp:41
mrpt::slam::CGridMapAligner::TAlignerMethod
TAlignerMethod
The type for selecting the grid-map alignment algorithm.
Definition: CGridMapAligner.h:46
mrpt::apps::CGridMapAlignerApp::aligner_method
mrpt::slam::CGridMapAligner::TAlignerMethod aligner_method
Definition: CGridMapAlignerApp.h:74
mrpt::apps::CGridMapAlignerApp::NOSAVE
bool NOSAVE
Definition: CGridMapAlignerApp.h:51
mrpt::apps::CGridMapAlignerApp::IS_VERBOSE
bool IS_VERBOSE
Definition: CGridMapAlignerApp.h:50



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