Detailed Description

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

Manage variables and methods related to applications executing graphSLAM using the mrpt-graphslam API.

CGraphSlamHandler class instances deal with the following:

Manage user interaction with the visuals (e.g. CDisplayWindow instance)
Manage general user options (e.g. user output directory preferences)

Definition at line 34 of file CGraphSlamHandler.h.

#include <mrpt/graphslam/apps_related/CGraphSlamHandler.h>

Public Member Functions
	CGraphSlamHandler (mrpt::system::COutputLogger logger, mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_T > options_checker, const bool enable_visuals=true)

	~CGraphSlamHandler ()

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. More...

void	printParams () const
	Print in a formatted manner the general configuraiton variables for the current graphSLAM execution. More...

void	initVisualization ()
	Initialize visualization (e.g. More...

void	execute ()
	Method to be called for parsing the rawlog file provided and for running graphSLAM using that information. More...

void	initEngine (const std::string &node_reg_str, const std::string &edge_reg_str, const std::string &optimizer_str)

void	setResultsDirName (const std::string &dirname)
	Override the results directory filename that was initially set in the .ini file. More...


void	getParamsAsString (std::string *str) const
	Fetch the general configuraiton variables for the current graphSLAM execution. More...

std::string	getParamsAsString () const

Protected Member Functions
void	initOutputDir (const std::string &output_dir_fname="graphslam_results")
	Initialize (clean up and create new files) the output directory. More...

bool	queryObserverForEvents ()
	Query the CWindowObserver instance for any pressed keys that might be of interest (e.g. More...

void	readConfigFname (const std::string &fname)
	Read configuration variables for the current graphSLAM execution from a .ini file. More...

void	saveResults (const std::string &output_dir_fname)

void	saveMap (const std::string &fname)

Protected Attributes
std::string	m_output_dir_fname

bool	m_user_decides_about_output_dir

bool	m_save_graph

bool	m_save_3DScene

bool	m_save_map

std::string	m_ini_fname

std::string	m_rawlog_fname

std::string	m_gt_fname

std::string	m_save_graph_fname

std::string	m_save_3DScene_fname

std::string	m_save_map_fname

mrpt::graphslam::CGraphSlamEngine< GRAPH_T > *	m_engine = nullptr

mrpt::graphslam::CWindowManager *	m_win_manager = nullptr

mrpt::graphslam::CWindowObserver *	m_win_observer = nullptr

mrpt::gui::CDisplayWindow3D *	m_win = nullptr

mrpt::system::COutputLogger *	m_logger

mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_T > *	m_options_checker
	TUserOptionsChecker instance whose task is to evaluate the Registration Decider, Optimizer instances that are given by the user. More...

bool	m_do_save_results = true

bool	m_has_set_fnames = false

bool	m_enable_visuals

Constructor & Destructor Documentation

◆ CGraphSlamHandler()

template<class GRAPH_T >

CGraphSlamHandler< GRAPH_T >::CGraphSlamHandler	(	mrpt::system::COutputLogger *	logger,
		mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_T > *	options_checker,
		const bool	enable_visuals = `true`
	)

Definition at line 18 of file CGraphSlamHandler_impl.h.

References ASSERTDEB_, CGraphSlamHandler< GRAPH_T >::initVisualization(), CGraphSlamHandler< GRAPH_T >::m_enable_visuals, CGraphSlamHandler< GRAPH_T >::m_logger, and CGraphSlamHandler< GRAPH_T >::m_options_checker.

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◆ ~CGraphSlamHandler()

template<class GRAPH_T >

CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler ( )

Definition at line 37 of file CGraphSlamHandler_impl.h.

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Member Function Documentation

◆ execute()

template<class GRAPH_T >

void CGraphSlamHandler< GRAPH_T >::execute ( )

Method to be called for parsing the rawlog file provided and for running graphSLAM using that information.

Definition at line 377 of file CGraphSlamHandler_impl.h.

References mrpt::serialization::archiveFrom(), ASSERTDEB_, mrpt::system::COutputLogger::logFmt(), mrpt::system::LVL_WARN, CGraphSlamHandler< GRAPH_T >::m_engine, CGraphSlamHandler< GRAPH_T >::m_logger, and CGraphSlamHandler< GRAPH_T >::m_rawlog_fname.

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◆ getParamsAsString() [1/2]

template<class GRAPH_T >

void CGraphSlamHandler< GRAPH_T >::getParamsAsString ( std::string * str ) const

Fetch the general configuraiton variables for the current graphSLAM execution.

Definition at line 283 of file CGraphSlamHandler_impl.h.

References ASSERTDEB_, CGraphSlamHandler< GRAPH_T >::m_output_dir_fname, CGraphSlamHandler< GRAPH_T >::m_rawlog_fname, CGraphSlamHandler< GRAPH_T >::m_save_3DScene, CGraphSlamHandler< GRAPH_T >::m_save_3DScene_fname, CGraphSlamHandler< GRAPH_T >::m_save_graph, CGraphSlamHandler< GRAPH_T >::m_save_graph_fname, and CGraphSlamHandler< GRAPH_T >::m_user_decides_about_output_dir.

◆ getParamsAsString() [2/2]

template<class GRAPH_T >

std::string CGraphSlamHandler< GRAPH_T >::getParamsAsString ( ) const

Definition at line 319 of file CGraphSlamHandler_impl.h.

Referenced by CGraphSlamHandler< GRAPH_T >::printParams().

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◆ initEngine()

template<class GRAPH_T >

void CGraphSlamHandler< GRAPH_T >::initEngine	(	const std::string &	node_reg_str,
		const std::string &	edge_reg_str,
		const std::string &	optimizer_str
	)

Definition at line 246 of file CGraphSlamHandler_impl.h.

References ASSERTDEB_, ASSERTDEBMSG_, mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::checkOptimizerExists(), mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::checkRegistrationDeciderExists(), mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::edge_regs_map, mrpt::format(), CGraphSlamHandler< GRAPH_T >::m_engine, CGraphSlamHandler< GRAPH_T >::m_gt_fname, CGraphSlamHandler< GRAPH_T >::m_has_set_fnames, CGraphSlamHandler< GRAPH_T >::m_ini_fname, CGraphSlamHandler< GRAPH_T >::m_options_checker, CGraphSlamHandler< GRAPH_T >::m_rawlog_fname, CGraphSlamHandler< GRAPH_T >::m_win_manager, mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::node_regs_map, and mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::optimizers_map.

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◆ initOutputDir()

template<class GRAPH_T >

void CGraphSlamHandler< GRAPH_T >::initOutputDir ( const std::string & output_dir_fname = "graphslam_results" )

protected

Initialize (clean up and create new files) the output directory.

If directory already exists (most probably from previous runs), the user is given 3 options:

Remove the current directory contents
Rename (and keep) the current directory contents
Manually handle the conflict

User can also set the .ini parameter user_decides_about_output_dir flag to false, if he doesn't care about the previous results directory. In this case the 1st choice is picked.

Parameters

[in] Name of the output directory to be used

See also: CGraphSlamEngine::initResultsFile

Definition at line 100 of file CGraphSlamHandler_impl.h.

References ASSERTDEBMSG_, mrpt::system::createDirectory(), mrpt::system::deleteFilesInDirectory(), mrpt::system::directoryExists(), mrpt::system::fileNameStripInvalidChars(), mrpt::format(), getCurrentTime(), mrpt::system::COutputLogger::logFmt(), mrpt::system::LVL_INFO, CGraphSlamHandler< GRAPH_T >::m_logger, CGraphSlamHandler< GRAPH_T >::m_user_decides_about_output_dir, MRPT_END, MRPT_START, mrpt::system::renameFile(), mrpt::system::timeToString(), and mrpt::system::trim().

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

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◆ initVisualization()

template<class GRAPH_T >

void CGraphSlamHandler< GRAPH_T >::initVisualization ( )

Initialize visualization (e.g.

the CDisplayWindow instance that shows the overall graphSLAM execution)

Definition at line 405 of file CGraphSlamHandler_impl.h.

References mrpt::gui::CDisplayWindow3D::get3DSceneAndLock(), mrpt::system::COutputLogger::logFmt(), mrpt::system::LVL_DEBUG, CGraphSlamHandler< GRAPH_T >::m_logger, CGraphSlamHandler< GRAPH_T >::m_win, CGraphSlamHandler< GRAPH_T >::m_win_manager, CGraphSlamHandler< GRAPH_T >::m_win_observer, mrpt::system::CObserver::observeBegin(), mrpt::graphslam::CWindowManager::setCDisplayWindow3DPtr(), mrpt::gui::CDisplayWindow3D::setPos(), mrpt::graphslam::CWindowManager::setWindowObserverPtr(), and mrpt::gui::CDisplayWindow3D::unlockAccess3DScene().

Referenced by CGraphSlamHandler< GRAPH_T >::CGraphSlamHandler().

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◆ printParams()

template<class GRAPH_T >

void CGraphSlamHandler< GRAPH_T >::printParams ( ) const

Print in a formatted manner the general configuraiton variables for the current graphSLAM execution.

See also: readConfigFname, getParamsAsString

Definition at line 276 of file CGraphSlamHandler_impl.h.

References CGraphSlamHandler< GRAPH_T >::getParamsAsString(), and CGraphSlamHandler< GRAPH_T >::m_engine.

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◆ queryObserverForEvents()

template<class GRAPH_T >

bool CGraphSlamHandler< GRAPH_T >::queryObserverForEvents ( )

protected

Query the CWindowObserver instance for any pressed keys that might be of interest (e.g.

<C-c>)

Returns: True if graphslam execution is to be continued normally

Definition at line 434 of file CGraphSlamHandler_impl.h.

References CGraphSlamHandler< GRAPH_T >::m_win_observer, and mrpt::graphslam::CWindowObserver::returnEventsStruct().

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

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◆ readConfigFname()

template<class GRAPH_T >

void CGraphSlamHandler< GRAPH_T >::readConfigFname ( const std::string & fname )

protected

Read configuration variables for the current graphSLAM execution from a .ini file.

See also: printParams

Definition at line 216 of file CGraphSlamHandler_impl.h.

Referenced by CGraphSlamHandler< GRAPH_T >::setFNames().

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◆ saveMap()

template<class GRAPH_T >

void CGraphSlamHandler< GRAPH_T >::saveMap ( const std::string & fname )

protected

Definition at line 367 of file CGraphSlamHandler_impl.h.

References mrpt::maps::COccupancyGridMap2D::Create(), and CGraphSlamHandler< GRAPH_T >::m_engine.

Referenced by CGraphSlamHandler< GRAPH_T >::saveResults().

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◆ saveResults()

template<class GRAPH_T >

void CGraphSlamHandler< GRAPH_T >::saveResults ( const std::string & output_dir_fname )

protected

Definition at line 336 of file CGraphSlamHandler_impl.h.

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

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◆ setFNames()

template<class GRAPH_T >

void CGraphSlamHandler< GRAPH_T >::setFNames	(	const std::string &	ini_fname,
		const std::string &	rawlog_fname,
		const std::string &	ground_truth_fname = `std::string()`
	)