g2o_online.cpp File Reference

#include <iostream>
#include <iomanip>
#include <csignal>
#include <cstdlib>
#include "g2o/stuff/macros.h"
#include "g2o/stuff/command_args.h"
#include "g2o/stuff/timeutil.h"
#include "slam_parser/interface/parser_interface.h"
#include "g2o_slam_interface.h"
#include "graph_optimizer_sparse_online.h"

Include dependency graph for g2o_online.cpp:

Go to the source code of this file.

Functions
void	sigquit_handler (int sig)
int	main (int argc, char **argv)

Variables
static bool	hasToStop =false

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 58 of file g2o_online.cpp.

References hasToStop, g2o::CommandArgs::param(), g2o::CommandArgs::parseArgs(), SlamParser::ParserInterface::parseCommand(), g2o::SparseOptimizer::setForceStopFlag(), g2o::G2oSlamInterface::setUpdateGraphEachN(), g2o::SparseOptimizer::setVerbose(), and g2o::SparseOptimizerOnline::vizWithGnuplot.

{
  bool pcg;
  int updateEachN;
  bool vis;
  bool verbose;
  // command line parsing
  CommandArgs arg;
  arg.param("update", updateEachN, 10, "update the graph after inserting N nodes");
  arg.param("pcg", pcg, false, "use PCG instead of Cholesky");
  arg.param("v", verbose, false, "verbose output of the optimization process");
  arg.param("g", vis, false, "gnuplot visualization");
  
  arg.parseArgs(argc, argv);

  SparseOptimizerOnline optimizer(pcg);
  //SparseOptimizer optimizer;
  optimizer.setVerbose(verbose);
  optimizer.setForceStopFlag(&hasToStop);
  optimizer.vizWithGnuplot = vis;

  G2oSlamInterface slamInterface(&optimizer);
  slamInterface.setUpdateGraphEachN(updateEachN);

  SlamParser::ParserInterface parserInterface(&slamInterface);

  while (parserInterface.parseCommand(cin))
  {
    // do something additional if needed
  }

  return 0;
}

void sigquit_handler

(

int

sig

)

Definition at line 46 of file g2o_online.cpp.

References __PRETTY_FUNCTION__, and hasToStop.

{
  if (sig == SIGINT) {
    hasToStop = 1;
    static int cnt = 0;
    if (cnt++ == 2) {
      cerr << __PRETTY_FUNCTION__ << " forcing exit" << endl;
      exit(1);
    }
  }
}

Variable Documentation

bool hasToStop =false

static

Definition at line 41 of file g2o_online.cpp.

Referenced by main(), and sigquit_handler().