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89 return "icp-slam <config_file> [dataset.rawlog]";
105 return "icp-slam-live <config_file>";
virtual ~ICP_SLAM_App_Live() override
std::shared_ptr< CObservation > Ptr
std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr > TListObservations
Implementation of BaseAppDataSource for reading from a rawlog file.
std::atomic_bool m_allThreadsMustExit
mrpt::config::CConfigFileBase * cfgFile
std::shared_ptr< mrpt::obs ::CSensoryFrame > Ptr
void SensorThread(TThreadParams params)
bool impl_get_next_observations(mrpt::obs::CActionCollection::Ptr &action, mrpt::obs::CSensoryFrame::Ptr &observations, mrpt::obs::CObservation::Ptr &observation) override
Get next sensory data.
void run()
Runs with the current parameter set.
std::shared_ptr< mrpt::obs ::CActionCollection > Ptr
ICP-SLAM virtual base class for application wrappers.
Instance of ICP_SLAM_App_Base to run mapping from a live LIDAR sensor.
Virtual interface for offline datasets (rawlog) or live sensors.
std::map< mrpt::system::TTimeStamp, mrpt::math::TPose3D > out_estimated_path
void initialize(int argc, const char **argv)
Initializes the application from CLI parameters.
bool quits_with_esc_key
If enabled (default), stdin will be watched and application quits if ESC is pressed.
std::mutex m_cs_global_list_obs
mrpt::config::CConfigFileMemory params
Populated in initialize().
This class allows loading and storing values and vectors of different types from a configuration text...
std::string impl_get_usage() const override
void impl_initialize(int argc, const char **argv) override
Versatile class for consistent logging and management of output messages.
std::string impl_get_usage() const override
void impl_initialize(int argc, const char **argv) override
Virtual interface for applications that initialize from CLI parameters.
This class implements a config file-like interface over a memory-stored string list.
Instance of ICP_SLAM_App_Base to run mapping from an offline dataset file.
mrpt::hwdrivers::CGenericSensor::TListObservations m_global_list_obs
void initialize(int argc, char **argv)
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