mrpt::apps::CGridMapAlignerApp Class Reference

Detailed Description

grid-matching application wrapper class.

See also

mrpt::slam::CGridMapAligner

Definition at line 21 of file CGridMapAlignerApp.h.

#include <mrpt/apps/CGridMapAlignerApp.h>

Inheritance diagram for mrpt::apps::CGridMapAlignerApp:

Public Member Functions
	CGridMapAlignerApp ()
Main API
void	initialize (int argc, const char **argv)
	Initializes the application from CLI parameters. More...
void	initialize (int argc, char **argv)
void	run ()
	Runs with the current parameter set. More...

Static Public Member Functions
static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_colors ()
	Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...
static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_names ()
	Map from VerbosityLevels to their corresponding names. More...

Public Attributes
Parameters and options. See: initialize()
bool	SAVE_SOG_3DSCENE = false
bool	SAVE_SOG_ALL_MAPS_OVERLAP_HYPOTHESES = false
bool	SAVE_CORR_AND_NONCORR_DISTS = false
bool	IS_VERBOSE = false
bool	NOSAVE = false
bool	SKIP_ICP_STAGE = false
bool	MOST_LIKELY_SOG_MODE_ONLY = false
std::string	SAVE_ICP_GOODNESS_FIL = ""
bool	is_match = false
bool	is_detect_test = false
std::string	RESULTS_DIR = "GRID-MATCHING_RESULTS"
std::string	fil_grid1
std::string	fil_grid2
std::string	OUTPUT_FIL
std::string	CONFIG_FIL
double	STD_NOISE_XY = 0
double	STD_NOISE_PHI = 0
double	STD_NOISE_LASER = 0
double	GT_Ax = 0
double	GT_Ay = 0
double	GT_Aphi_rad = 0
bool	NOISE_IN_LASER = false
bool	NOISE_IN_POSE = false
unsigned int	N_ITERS = 1
mrpt::slam::CGridMapAligner::TAlignerMethod	aligner_method
Outputs and result variables
mrpt::poses::CPose2D	estimateMean
mrpt::math::CMatrixDouble33	estimateCOV

Protected Attributes
VerbosityLevel	m_min_verbosity_level {LVL_INFO}
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...

Logging methods
bool	logging_enable_console_output {true}
	[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 {false}
	[Default=false] Enables storing all messages into an internal list. More...
void	logStr (const VerbosityLevel level, std::string_view 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=nullptr) 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)

Constructor & Destructor Documentation

CGridMapAlignerApp()

CGridMapAlignerApp::CGridMapAlignerApp

(

)

Definition at line 41 of file CGridMapAlignerApp.cpp.

Member Function Documentation

dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const

inherited

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

See also

writeToFile

Definition at line 190 of file COutputLogger.cpp.

getLogAsString() [1/2]

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 154 of file COutputLogger.cpp.

getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const

inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

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

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getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const

inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

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

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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 201 of file COutputLogger.cpp.

getLoggerName()

std::string COutputLogger::getLoggerName ( ) const

inherited

Return the name of the COutputLogger instance.

See also

setLoggerName

Definition at line 143 of file COutputLogger.cpp.

getMinLoggingLevel()

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

inlineinherited

See also

setMinLoggingLevel

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

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

Referenced by mrpt::apps::RawlogGrabberApp::dump_verbose_info(), mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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initialize() [1/2]

void CGridMapAlignerApp::initialize	(	int	argc,
		const char **	argv
	)

Initializes the application from CLI parameters.

Refer to the manpage of grid-matching. Throws on errors.

Definition at line 46 of file CGridMapAlignerApp.cpp.

References aligner_method, argc, argv, CONFIG_FIL, mrpt::DEG2RAD(), fil_grid1, fil_grid2, GT_Aphi_rad, GT_Ax, GT_Ay, is_detect_test, is_match, IS_VERBOSE, MOST_LIKELY_SOG_MODE_ONLY, MRPT_END, mrpt::system::MRPT_getCompilationDate(), mrpt::system::MRPT_getVersion(), MRPT_START, N_ITERS, mrpt::typemeta::TEnumType< ENUMTYPE >::name2value(), NOISE_IN_LASER, NOISE_IN_POSE, NOSAVE, OUTPUT_FIL, RESULTS_DIR, SAVE_CORR_AND_NONCORR_DISTS, SAVE_ICP_GOODNESS_FIL, SAVE_SOG_3DSCENE, SAVE_SOG_ALL_MAPS_OVERLAP_HYPOTHESES, SKIP_ICP_STAGE, STD_NOISE_LASER, STD_NOISE_PHI, STD_NOISE_XY, and THROW_EXCEPTION.

Referenced by initialize().

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initialize() [2/2]

void mrpt::apps::CGridMapAlignerApp::initialize ( int  argc, char **  argv  )

inline

Definition at line 34 of file CGridMapAlignerApp.h.

References argc, argv, and initialize().

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isLoggingLevelVisible()

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

inlineinherited

Definition at line 202 of file system/COutputLogger.h.

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

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

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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 131 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 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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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 91 of file COutputLogger.cpp.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), 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(), mrpt::hmtslam::CHMTSLAM::thread_3D_viewer(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), mrpt::hmtslam::CHMTSLAM::thread_TBI(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

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loggerReset()

void COutputLogger::loggerReset ( )

inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )

staticinherited

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

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

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

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

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logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )

staticinherited

Map from VerbosityLevels to their corresponding names.

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

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

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

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logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc )

inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

logStr()

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

inherited

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

See also

logCond, logFmt

Definition at line 72 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(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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run()

void CGridMapAlignerApp::run

(

)

Runs with the current parameter set.

Throws on errors.

Definition at line 211 of file CGridMapAlignerApp.cpp.

References mrpt::slam::CMetricMapsAlignmentAlgorithm::Align(), aligner_method, mrpt::serialization::archiveFrom(), ASSERT_, mrpt::maps::CPointsMap::TRenderOptions::color, CONFIG_FIL, mrpt::system::createDirectory(), mrpt::DEG2RAD(), mrpt::system::deleteFiles(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::distance2DTo(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::distanceTo(), mrpt::random::CRandomGenerator::drawGaussian1D(), mrpt::config::CLoadableOptions::dumpToConsole(), estimateCOV, estimateMean, mrpt::slam::TMetricMapAlignmentResult::executionTime, mrpt::slam::COccupancyGridMapFeatureExtractor::extractFeatures(), mrpt::system::extractFileExtension(), mrpt::math::MatrixBase< Scalar, Derived >::extractMatrix(), mrpt::slam::CGridMapAligner::TConfigParams::featsPerSquareMeter, mrpt::slam::CGridMapAligner::TConfigParams::feature_descriptor, mrpt::slam::CGridMapAligner::TConfigParams::feature_detector_options, mrpt::maps::CLandmark::features, fil_grid1, fil_grid2, mrpt::system::fileExists(), mrpt::io::CFileStream::fileOpenCorrectly(), mrpt::io::fomWrite, mrpt::format(), mrpt::maps::CSimpleMap::get(), mrpt::maps::CMultiMetricMap::getAs3DObject(), mrpt::img::CImage::getHeight(), mrpt::system::COutputLogger::getMinLoggingLevel(), mrpt::random::getRandomGenerator(), mrpt::slam::CGridMapAligner::TReturnInfo::goodness, GT_Aphi_rad, GT_Ax, GT_Ay, mrpt::slam::CGridMapAligner::TReturnInfo::icp_goodness_all_sog_modes, mrpt::opengl::COpenGLScene::insert(), mrpt::maps::CSimplePointsMap::TMapDefinition::insertionOpts, mrpt::maps::COccupancyGridMap2D::TMapDefinition::insertionOpts, IS_CLASS, is_detect_test, is_match, IS_VERBOSE, mrpt::slam::CGridMapAligner::TReturnInfo::landmarks_map1, mrpt::slam::CGridMapAligner::TReturnInfo::landmarks_map2, mrpt::img::CImage::line(), mrpt::slam::CGridMapAligner::TConfigParams::loadFromConfigFile(), mrpt::maps::TSetOfMetricMapInitializers::loadFromConfigFile(), mrpt::maps::CMetricMap::loadFromProbabilisticPosesAndObservations(), mrpt::maps::CMultiMetricMap::mapByClass(), mrpt::maps::COccupancyGridMap2D::TInsertionOptions::maxDistanceInsertion, mrpt::maps::COccupancyGridMap2D::TInsertionOptions::maxOccupancyUpdateCertainty, mrpt::math::mean(), mrpt::slam::CGridMapAligner::TConfigParams::methodSelection, mrpt::maps::CPointsMap::TInsertionOptions::minDistBetweenLaserPoints, mrpt::math::minimum(), MOST_LIKELY_SOG_MODE_ONLY, MRPT_END, MRPT_LOG_INFO_FMT, MRPT_LOG_INFO_STREAM, MRPT_START, N_ITERS, NOISE_IN_LASER, NOISE_IN_POSE, mrpt::slam::CGridMapAligner::TReturnInfo::noRobustEstimation, NOSAVE, mrpt::io::CFileStream::open(), mrpt::slam::CGridMapAligner::options, OUTPUT_FIL, mrpt::system::pause(), mrpt::poses::CPose2D::phi(), mrpt::maps::CLandmark::pose_mean, mrpt::io::CStream::printf(), mrpt::maps::TSetOfMetricMapInitializers::push_back(), mrpt::math::CVectorDynamic< T >::push_back(), mrpt::random::CRandomGenerator::randomize(), mrpt::slam::CGridMapAligner::TConfigParams::ransac_SOG_sigma_m, mrpt::maps::CSimplePointsMap::TMapDefinition::renderOpts, mrpt::maps::COccupancyGridMap2D::TMapDefinition::resolution, RESULTS_DIR, mrpt::round(), SAVE_CORR_AND_NONCORR_DISTS, SAVE_ICP_GOODNESS_FIL, SAVE_SOG_3DSCENE, SAVE_SOG_ALL_MAPS_OVERLAP_HYPOTHESES, mrpt::opengl::COpenGLScene::saveToFile(), mrpt::img::CImage::saveToFile(), mrpt::math::MatrixVectorBase< Scalar, Derived >::saveToTextFile(), mrpt::config::CConfigFileBase::sectionExists(), mrpt::maps::CSimpleMap::set(), mrpt::maps::CMultiMetricMap::setListOfMaps(), mrpt::system::COutputLogger::setMinLoggingLevel(), mrpt::maps::CSimpleMap::size(), SKIP_ICP_STAGE, STD_NOISE_LASER, STD_NOISE_PHI, STD_NOISE_XY, mrpt::math::stddev(), THROW_EXCEPTION, mrpt::system::vectorToTextFile(), mrpt::math::wrapToPi(), mrpt::math::TPoint2D_data< T >::x, mrpt::math::TPoint3D_data< T >::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::math::TPoint2D_data< T >::y, mrpt::math::TPoint3D_data< T >::y, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::math::TPoint3D_data< T >::z.

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setLoggerName()

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

inherited

Set the name of the COutputLogger instance.

See also

getLoggerName

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), mrpt::apps::ICP_SLAM_App_Base::ICP_SLAM_App_Base(), mrpt::apps::ICP_SLAM_App_Live::ICP_SLAM_App_Live(), mrpt::apps::ICP_SLAM_App_Rawlog::ICP_SLAM_App_Rawlog(), mrpt::graphslam::CWindowManager::initCWindowManager(), mrpt::apps::MonteCarloLocalization_Base::MonteCarloLocalization_Base(), mrpt::apps::RBPF_SLAM_App_Base::RBPF_SLAM_App_Base(), and mrpt::apps::RBPF_SLAM_App_Rawlog::RBPF_SLAM_App_Rawlog().

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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 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level )

inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

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

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writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string *  fname_in = nullptr ) 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 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Member Data Documentation

aligner_method

mrpt::slam::CGridMapAligner::TAlignerMethod mrpt::apps::CGridMapAlignerApp::aligner_method

Initial value:

=
        mrpt::slam::CGridMapAligner::amModifiedRANSAC

Definition at line 74 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().

CONFIG_FIL

std::string mrpt::apps::CGridMapAlignerApp::CONFIG_FIL

Definition at line 63 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().

estimateCOV

mrpt::math::CMatrixDouble33 mrpt::apps::CGridMapAlignerApp::estimateCOV

Definition at line 81 of file CGridMapAlignerApp.h.

Referenced by run().

estimateMean

mrpt::poses::CPose2D mrpt::apps::CGridMapAlignerApp::estimateMean

Definition at line 80 of file CGridMapAlignerApp.h.

Referenced by run().

fil_grid1

std::string mrpt::apps::CGridMapAlignerApp::fil_grid1

Definition at line 61 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().

fil_grid2

std::string mrpt::apps::CGridMapAlignerApp::fil_grid2

Definition at line 61 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().

GT_Aphi_rad

double mrpt::apps::CGridMapAlignerApp::GT_Aphi_rad = 0

Definition at line 67 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().

GT_Ax

double mrpt::apps::CGridMapAlignerApp::GT_Ax = 0

Definition at line 67 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().

GT_Ay

double mrpt::apps::CGridMapAlignerApp::GT_Ay = 0

Definition at line 67 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().

is_detect_test

bool mrpt::apps::CGridMapAlignerApp::is_detect_test = false

Definition at line 58 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().

is_match

bool mrpt::apps::CGridMapAlignerApp::is_match = false

Definition at line 58 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().

IS_VERBOSE

bool mrpt::apps::CGridMapAlignerApp::IS_VERBOSE = false

Definition at line 50 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().

logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}

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 240 of file system/COutputLogger.h.

logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}

inherited

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

See also

writeLogToFile, getLogAsString

Definition at line 243 of file system/COutputLogger.h.

m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}

protectedinherited

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

Definition at line 253 of file system/COutputLogger.h.

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

MOST_LIKELY_SOG_MODE_ONLY

bool mrpt::apps::CGridMapAlignerApp::MOST_LIKELY_SOG_MODE_ONLY = false

Definition at line 53 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().

N_ITERS

unsigned int mrpt::apps::CGridMapAlignerApp::N_ITERS = 1

Definition at line 72 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().

NOISE_IN_LASER

bool mrpt::apps::CGridMapAlignerApp::NOISE_IN_LASER = false

Definition at line 69 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().

NOISE_IN_POSE

bool mrpt::apps::CGridMapAlignerApp::NOISE_IN_POSE = false

Definition at line 70 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().

NOSAVE

bool mrpt::apps::CGridMapAlignerApp::NOSAVE = false

Definition at line 51 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().

OUTPUT_FIL

std::string mrpt::apps::CGridMapAlignerApp::OUTPUT_FIL

Definition at line 62 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().

RESULTS_DIR

std::string mrpt::apps::CGridMapAlignerApp::RESULTS_DIR = "GRID-MATCHING_RESULTS"

Definition at line 60 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().

SAVE_CORR_AND_NONCORR_DISTS

bool mrpt::apps::CGridMapAlignerApp::SAVE_CORR_AND_NONCORR_DISTS = false

Definition at line 49 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().

SAVE_ICP_GOODNESS_FIL

std::string mrpt::apps::CGridMapAlignerApp::SAVE_ICP_GOODNESS_FIL = ""

Definition at line 55 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().

SAVE_SOG_3DSCENE

bool mrpt::apps::CGridMapAlignerApp::SAVE_SOG_3DSCENE = false

Definition at line 47 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().

SAVE_SOG_ALL_MAPS_OVERLAP_HYPOTHESES

bool mrpt::apps::CGridMapAlignerApp::SAVE_SOG_ALL_MAPS_OVERLAP_HYPOTHESES = false

Definition at line 48 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().

SKIP_ICP_STAGE

bool mrpt::apps::CGridMapAlignerApp::SKIP_ICP_STAGE = false

Definition at line 52 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().

STD_NOISE_LASER

double mrpt::apps::CGridMapAlignerApp::STD_NOISE_LASER = 0

Definition at line 66 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().

STD_NOISE_PHI

double mrpt::apps::CGridMapAlignerApp::STD_NOISE_PHI = 0

Definition at line 65 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().

STD_NOISE_XY

double mrpt::apps::CGridMapAlignerApp::STD_NOISE_XY = 0

Definition at line 65 of file CGridMapAlignerApp.h.

Referenced by initialize(), and run().