Parameters.cpp
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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15 
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27 
28 #include "rtabmap/core/Parameters.h"
29 #include "rtabmap/core/DBDriver.h"
30 #include <rtabmap/utilite/UDirectory.h>
31 #include <rtabmap/utilite/ULogger.h>
32 #include <rtabmap/utilite/UConversion.h>
33 #include <rtabmap/utilite/UStl.h>
34 #include <rtabmap/utilite/UFile.h>
35 #include <cmath>
36 #include <stdlib.h>
37 #include <sstream>
38 #include <iostream>
39 #include <iomanip>
40 #include "SimpleIni.h"
41 #include <opencv2/core/version.hpp>
42 #include <pcl/pcl_config.h>
43 #include <opencv2/opencv_modules.hpp>
44 #ifndef DISABLE_VTK
45 #include <vtkVersion.h>
46 #endif
47 
48 namespace rtabmap
49 {
50 
51 ParametersMap Parameters::parameters_;
52 ParametersMap Parameters::parametersType_;
53 ParametersMap Parameters::descriptions_;
54 Parameters Parameters::instance_;
55 std::map<std::string, std::pair<bool, std::string> > Parameters::removedParameters_;
56 ParametersMap Parameters::backwardCompatibilityMap_;
57 
58 Parameters::Parameters()
59 {
60 }
61 
62 Parameters::~Parameters()
63 {
64 }
65 
66 std::string Parameters::createDefaultWorkingDirectory()
67 {
68  std::string path = UDirectory::homeDir();
69  if(!path.empty())
70  {
71  UDirectory::makeDir(path += UDirectory::separator() + "Documents");
72  UDirectory::makeDir(path += UDirectory::separator() + "RTAB-Map");
73 
74  }
75  else
76  {
77  UFATAL("Can't get the HOME variable environment!");
78  }
79  return path;
80 }
81 
82 std::string Parameters::getVersion()
83 {
84  return RTABMAP_VERSION;
85  return ""; // Second return only to avoid compiler warning with RTABMAP_VERSION not yet set.
86 }
87 
88 std::string Parameters::getDefaultDatabaseName()
89 {
90  return "rtabmap.db";
91 }
92 
93 std::string Parameters::serialize(const ParametersMap & parameters)
94 {
95  std::stringstream output;
96  for(ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
97  {
98  if(iter != parameters.begin())
99  {
100  output << ";";
101  }
102  // make sure there are no commas instead of dots
103  output << iter->first << ":" << uReplaceChar(iter->second, ',', '.');
104  }
105  UDEBUG("output=%s", output.str().c_str());
106  return output.str();
107 }
108 
109 ParametersMap Parameters::deserialize(const std::string & parameters)
110 {
111  UDEBUG("parameters=%s", parameters.c_str());
112  ParametersMap output;
113  std::list<std::string> tuplets = uSplit(parameters, ';');
114  for(std::list<std::string>::iterator iter=tuplets.begin(); iter!=tuplets.end(); ++iter)
115  {
116  std::list<std::string> p = uSplit(*iter, ':');
117  if(p.size() == 2)
118  {
119  std::string key = p.front();
120  std::string value = p.back();
121 
122  // look for old parameter name
123  bool addParameter = true;
124  std::map<std::string, std::pair<bool, std::string> >::const_iterator oldIter = Parameters::getRemovedParameters().find(key);
125  if(oldIter!=Parameters::getRemovedParameters().end())
126  {
127  addParameter = oldIter->second.first;
128  if(addParameter)
129  {
130  key = oldIter->second.second;
131  UWARN("Parameter migration from \"%s\" to \"%s\" (value=%s).",
132  oldIter->first.c_str(), oldIter->second.second.c_str(), value.c_str());
133  }
134  else if(oldIter->second.second.empty())
135  {
136  UWARN("Parameter \"%s\" doesn't exist anymore.",
137  oldIter->first.c_str());
138  }
139  else
140  {
141  UWARN("Parameter \"%s\" doesn't exist anymore, you may want to use this similar parameter \"%s\":\"%s\".",
142  oldIter->first.c_str(), oldIter->second.second.c_str(), Parameters::getDescription(oldIter->second.second).c_str());
143  }
144 
145  }
146 
147  if(oldIter==Parameters::getRemovedParameters().end() &&
148  Parameters::getDefaultParameters().find(key) == Parameters::getDefaultParameters().end())
149  {
150  UWARN("Unknown parameter \"%s\"=\"%s\"! The parameter is still added to output map.", key.c_str(), value.c_str());
151  }
152  uInsert(output, ParametersPair(key, value));
153  }
154  }
155  return output;
156 }
157 
158 bool Parameters::isFeatureParameter(const std::string & parameter)
159 {
160  std::string group = uSplit(parameter, '/').front();
161  return group.compare("SURF") == 0 ||
162  group.compare("SIFT") == 0 ||
163  group.compare("ORB") == 0 ||
164  group.compare("FAST") == 0 ||
165  group.compare("FREAK") == 0 ||
166  group.compare("BRIEF") == 0 ||
167  group.compare("GFTT") == 0 ||
168  group.compare("BRISK") == 0 ||
169  group.compare("KAZE") == 0 ||
170  group.compare("SuperPoint") == 0;
171 }
172 
173 rtabmap::ParametersMap Parameters::getDefaultOdometryParameters(bool stereo, bool vis, bool icp)
174 {
175  rtabmap::ParametersMap odomParameters;
176  rtabmap::ParametersMap defaultParameters = rtabmap::Parameters::getDefaultParameters();
177  for(rtabmap::ParametersMap::iterator iter=defaultParameters.begin(); iter!=defaultParameters.end(); ++iter)
178  {
179  std::string group = uSplit(iter->first, '/').front();
180  if(uStrContains(group, "Odom") ||
181  (stereo && group.compare("Stereo") == 0) ||
182  (icp && group.compare("Icp") == 0) ||
183  (vis && Parameters::isFeatureParameter(iter->first)) ||
184  group.compare("Reg") == 0 ||
185  group.compare("Optimizer") == 0 ||
186  group.compare("g2o") == 0 ||
187  group.compare("GTSAM") == 0 ||
188  (vis && (group.compare("Vis") == 0 || group.compare("PyMatcher") == 0 || group.compare("GMS") == 0)) ||
189  iter->first.compare(kRtabmapPublishRAMUsage())==0)
190  {
191  odomParameters.insert(*iter);
192  }
193  }
194  return odomParameters;
195 }
196 
197 ParametersMap Parameters::getDefaultParameters(const std::string & groupIn)
198 {
199  rtabmap::ParametersMap parameters;
200  const rtabmap::ParametersMap & defaultParameters = rtabmap::Parameters::getDefaultParameters();
201  for(rtabmap::ParametersMap::const_iterator iter=defaultParameters.begin(); iter!=defaultParameters.end(); ++iter)
202  {
203  UASSERT(uSplit(iter->first, '/').size() == 2);
204  std::string group = uSplit(iter->first, '/').front();
205  if(group.compare(groupIn) == 0)
206  {
207  parameters.insert(*iter);
208  }
209  }
210  UASSERT_MSG(parameters.size(), uFormat("No parameters found for group %s!", groupIn.c_str()).c_str());
211  return parameters;
212 }
213 
214 ParametersMap Parameters::filterParameters(const ParametersMap & parameters, const std::string & groupIn)
215 {
216  ParametersMap output;
217  for(rtabmap::ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
218  {
219  UASSERT(uSplit(iter->first, '/').size() == 2);
220  std::string group = uSplit(iter->first, '/').front();
221  if(group.compare(groupIn) == 0)
222  {
223  output.insert(*iter);
224  }
225  }
226  return output;
227 }
228 
229 const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemovedParameters()
230 {
231  if(removedParameters_.empty())
232  {
233  // removed parameters
234 
235  // 0.20.
236  removedParameters_.insert(std::make_pair("SuperGlue/Path", std::make_pair(true, Parameters::kPyMatcherPath())));
237  removedParameters_.insert(std::make_pair("SuperGlue/Iterations", std::make_pair(true, Parameters::kPyMatcherIterations())));
238  removedParameters_.insert(std::make_pair("SuperGlue/MatchThreshold", std::make_pair(true, Parameters::kPyMatcherThreshold())));
239  removedParameters_.insert(std::make_pair("SuperGlue/Cuda", std::make_pair(true, Parameters::kPyMatcherCuda())));
240  removedParameters_.insert(std::make_pair("SuperGlue/Indoor", std::make_pair(false, Parameters::kPyMatcherModel())));
241 
242  removedParameters_.insert(std::make_pair("Vis/CorCrossCheck", std::make_pair(false, Parameters::kVisCorNNType())));
243  removedParameters_.insert(std::make_pair("SPTorch/ModelPath", std::make_pair(true, Parameters::kSuperPointModelPath())));
244  removedParameters_.insert(std::make_pair("SPTorch/Threshold", std::make_pair(true, Parameters::kSuperPointThreshold())));
245  removedParameters_.insert(std::make_pair("SPTorch/NMS", std::make_pair(true, Parameters::kSuperPointNMS())));
246  removedParameters_.insert(std::make_pair("SPTorch/MinDistance", std::make_pair(true, Parameters::kSuperPointNMSRadius())));
247  removedParameters_.insert(std::make_pair("SPTorch/Cuda", std::make_pair(true, Parameters::kSuperPointCuda())));
248 
249  // 0.19.4
250  removedParameters_.insert(std::make_pair("RGBD/MaxLocalizationDistance", std::make_pair(true, Parameters::kRGBDMaxLoopClosureDistance())));
251 
252  // 0.19.3
253  removedParameters_.insert(std::make_pair("Aruco/Dictionary", std::make_pair(true, Parameters::kMarkerDictionary())));
254  removedParameters_.insert(std::make_pair("Aruco/MarkerLength", std::make_pair(true, Parameters::kMarkerLength())));
255  removedParameters_.insert(std::make_pair("Aruco/MaxDepthError", std::make_pair(true, Parameters::kMarkerMaxDepthError())));
256  removedParameters_.insert(std::make_pair("Aruco/VarianceLinear", std::make_pair(true, Parameters::kMarkerVarianceLinear())));
257  removedParameters_.insert(std::make_pair("Aruco/VarianceAngular", std::make_pair(true, Parameters::kMarkerVarianceAngular())));
258  removedParameters_.insert(std::make_pair("Aruco/CornerRefinementMethod", std::make_pair(true, Parameters::kMarkerCornerRefinementMethod())));
259 
260  // 0.17.5
261  removedParameters_.insert(std::make_pair("Grid/OctoMapOccupancyThr", std::make_pair(true, Parameters::kGridGlobalOccupancyThr())));
262 
263  // 0.17.0
264  removedParameters_.insert(std::make_pair("Grid/Scan2dMaxFilledRange", std::make_pair(false, Parameters::kGridRangeMax())));
265 
266  // 0.16.0
267  removedParameters_.insert(std::make_pair("Grid/ProjRayTracing", std::make_pair(true, Parameters::kGridRayTracing())));
268  removedParameters_.insert(std::make_pair("Grid/DepthMin", std::make_pair(true, Parameters::kGridRangeMin())));
269  removedParameters_.insert(std::make_pair("Grid/DepthMax", std::make_pair(true, Parameters::kGridRangeMax())));
270 
271  // 0.15.1
272  removedParameters_.insert(std::make_pair("Reg/VarianceFromInliersCount", std::make_pair(false, "")));
273  removedParameters_.insert(std::make_pair("Reg/VarianceNormalized", std::make_pair(false, "")));
274 
275  // 0.13.3
276  removedParameters_.insert(std::make_pair("Icp/PointToPlaneNormalNeighbors", std::make_pair(true, Parameters::kIcpPointToPlaneK())));
277 
278 
279  // 0.13.1
280  removedParameters_.insert(std::make_pair("Rtabmap/VhStrategy", std::make_pair(true, Parameters::kVhEpEnabled())));
281 
282  // 0.12.5
283  removedParameters_.insert(std::make_pair("Grid/FullUpdate", std::make_pair(true, Parameters::kGridGlobalFullUpdate())));
284 
285  // 0.12.1
286  removedParameters_.insert(std::make_pair("Grid/3DGroundIsObstacle", std::make_pair(true, Parameters::kGridGroundIsObstacle())));
287 
288  // 0.11.12
289  removedParameters_.insert(std::make_pair("Optimizer/Slam2D", std::make_pair(true, Parameters::kRegForce3DoF())));
290  removedParameters_.insert(std::make_pair("OdomF2M/FixedMapPath", std::make_pair(false, "")));
291 
292  // 0.11.10 typos
293  removedParameters_.insert(std::make_pair("Grid/FlatObstaclesDetected", std::make_pair(true, Parameters::kGridFlatObstacleDetected())));
294 
295  // 0.11.8
296  removedParameters_.insert(std::make_pair("Reg/Force2D", std::make_pair(true, Parameters::kRegForce3DoF())));
297  removedParameters_.insert(std::make_pair("OdomF2M/ScanSubstractRadius", std::make_pair(true, Parameters::kOdomF2MScanSubtractRadius())));
298 
299  // 0.11.6
300  removedParameters_.insert(std::make_pair("RGBD/ProximityPathScansMerged", std::make_pair(false, "")));
301 
302  // 0.11.3
303  removedParameters_.insert(std::make_pair("Mem/ImageDecimation", std::make_pair(true, Parameters::kMemImagePostDecimation())));
304 
305  // 0.11.2
306  removedParameters_.insert(std::make_pair("OdomLocalMap/HistorySize", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
307  removedParameters_.insert(std::make_pair("OdomLocalMap/FixedMapPath", std::make_pair(false, "")));
308  removedParameters_.insert(std::make_pair("OdomF2F/GuessMotion", std::make_pair(true, Parameters::kOdomGuessMotion())));
309  removedParameters_.insert(std::make_pair("OdomF2F/KeyFrameThr", std::make_pair(false, Parameters::kOdomKeyFrameThr())));
310 
311  // 0.11.0
312  removedParameters_.insert(std::make_pair("OdomBow/LocalHistorySize", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
313  removedParameters_.insert(std::make_pair("OdomBow/FixedLocalMapPath", std::make_pair(false, "")));
314  removedParameters_.insert(std::make_pair("OdomFlow/KeyFrameThr", std::make_pair(false, Parameters::kOdomKeyFrameThr())));
315  removedParameters_.insert(std::make_pair("OdomFlow/GuessMotion", std::make_pair(true, Parameters::kOdomGuessMotion())));
316 
317  removedParameters_.insert(std::make_pair("Kp/WordsPerImage", std::make_pair(true, Parameters::kKpMaxFeatures())));
318 
319  removedParameters_.insert(std::make_pair("Mem/LocalSpaceLinksKeptInWM", std::make_pair(false, "")));
320 
321  removedParameters_.insert(std::make_pair("RGBD/PoseScanMatching", std::make_pair(true, Parameters::kRGBDNeighborLinkRefining())));
322 
323  removedParameters_.insert(std::make_pair("Odom/ParticleFiltering", std::make_pair(false, Parameters::kOdomFilteringStrategy())));
324  removedParameters_.insert(std::make_pair("Odom/FeatureType", std::make_pair(true, Parameters::kVisFeatureType())));
325  removedParameters_.insert(std::make_pair("Odom/EstimationType", std::make_pair(true, Parameters::kVisEstimationType())));
326  removedParameters_.insert(std::make_pair("Odom/MaxFeatures", std::make_pair(true, Parameters::kVisMaxFeatures())));
327  removedParameters_.insert(std::make_pair("Odom/InlierDistance", std::make_pair(true, Parameters::kVisInlierDistance())));
328  removedParameters_.insert(std::make_pair("Odom/MinInliers", std::make_pair(true, Parameters::kVisMinInliers())));
329  removedParameters_.insert(std::make_pair("Odom/Iterations", std::make_pair(true, Parameters::kVisIterations())));
330  removedParameters_.insert(std::make_pair("Odom/RefineIterations", std::make_pair(true, Parameters::kVisRefineIterations())));
331  removedParameters_.insert(std::make_pair("Odom/MaxDepth", std::make_pair(true, Parameters::kVisMaxDepth())));
332  removedParameters_.insert(std::make_pair("Odom/RoiRatios", std::make_pair(true, Parameters::kVisRoiRatios())));
333  removedParameters_.insert(std::make_pair("Odom/Force2D", std::make_pair(true, Parameters::kRegForce3DoF())));
334  removedParameters_.insert(std::make_pair("Odom/VarianceFromInliersCount", std::make_pair(false, "")));
335  removedParameters_.insert(std::make_pair("Odom/PnPReprojError", std::make_pair(true, Parameters::kVisPnPReprojError())));
336  removedParameters_.insert(std::make_pair("Odom/PnPFlags", std::make_pair(true, Parameters::kVisPnPFlags())));
337 
338  removedParameters_.insert(std::make_pair("OdomBow/NNType", std::make_pair(true, Parameters::kVisCorNNType())));
339  removedParameters_.insert(std::make_pair("OdomBow/NNDR", std::make_pair(true, Parameters::kVisCorNNDR())));
340 
341  removedParameters_.insert(std::make_pair("OdomFlow/WinSize", std::make_pair(true, Parameters::kVisCorFlowWinSize())));
342  removedParameters_.insert(std::make_pair("OdomFlow/Iterations", std::make_pair(true, Parameters::kVisCorFlowIterations())));
343  removedParameters_.insert(std::make_pair("OdomFlow/Eps", std::make_pair(true, Parameters::kVisCorFlowEps())));
344  removedParameters_.insert(std::make_pair("OdomFlow/MaxLevel", std::make_pair(true, Parameters::kVisCorFlowMaxLevel())));
345 
346  removedParameters_.insert(std::make_pair("OdomSubPix/WinSize", std::make_pair(true, Parameters::kVisSubPixWinSize())));
347  removedParameters_.insert(std::make_pair("OdomSubPix/Iterations", std::make_pair(true, Parameters::kVisSubPixIterations())));
348  removedParameters_.insert(std::make_pair("OdomSubPix/Eps", std::make_pair(true, Parameters::kVisSubPixEps())));
349 
350  removedParameters_.insert(std::make_pair("LccReextract/Activated", std::make_pair(true, Parameters::kRGBDLoopClosureReextractFeatures())));
351  removedParameters_.insert(std::make_pair("LccReextract/FeatureType", std::make_pair(false, Parameters::kVisFeatureType())));
352  removedParameters_.insert(std::make_pair("LccReextract/MaxWords", std::make_pair(false, Parameters::kVisMaxFeatures())));
353  removedParameters_.insert(std::make_pair("LccReextract/MaxDepth", std::make_pair(false, Parameters::kVisMaxDepth())));
354  removedParameters_.insert(std::make_pair("LccReextract/RoiRatios", std::make_pair(false, Parameters::kVisRoiRatios())));
355  removedParameters_.insert(std::make_pair("LccReextract/NNType", std::make_pair(false, Parameters::kVisCorNNType())));
356  removedParameters_.insert(std::make_pair("LccReextract/NNDR", std::make_pair(false, Parameters::kVisCorNNDR())));
357 
358  removedParameters_.insert(std::make_pair("LccBow/EstimationType", std::make_pair(false, Parameters::kVisEstimationType())));
359  removedParameters_.insert(std::make_pair("LccBow/InlierDistance", std::make_pair(false, Parameters::kVisInlierDistance())));
360  removedParameters_.insert(std::make_pair("LccBow/MinInliers", std::make_pair(false, Parameters::kVisMinInliers())));
361  removedParameters_.insert(std::make_pair("LccBow/Iterations", std::make_pair(false, Parameters::kVisIterations())));
362  removedParameters_.insert(std::make_pair("LccBow/RefineIterations", std::make_pair(false, Parameters::kVisRefineIterations())));
363  removedParameters_.insert(std::make_pair("LccBow/Force2D", std::make_pair(false, Parameters::kRegForce3DoF())));
364  removedParameters_.insert(std::make_pair("LccBow/VarianceFromInliersCount", std::make_pair(false, "")));
365  removedParameters_.insert(std::make_pair("LccBow/PnPReprojError", std::make_pair(false, Parameters::kVisPnPReprojError())));
366  removedParameters_.insert(std::make_pair("LccBow/PnPFlags", std::make_pair(false, Parameters::kVisPnPFlags())));
367  removedParameters_.insert(std::make_pair("LccBow/EpipolarGeometryVar", std::make_pair(true, Parameters::kVisEpipolarGeometryVar())));
368 
369  removedParameters_.insert(std::make_pair("LccIcp/Type", std::make_pair(false, Parameters::kRegStrategy())));
370 
371  removedParameters_.insert(std::make_pair("LccIcp3/Decimation", std::make_pair(false, "")));
372  removedParameters_.insert(std::make_pair("LccIcp3/MaxDepth", std::make_pair(false, "")));
373  removedParameters_.insert(std::make_pair("LccIcp3/VoxelSize", std::make_pair(false, Parameters::kIcpVoxelSize())));
374  removedParameters_.insert(std::make_pair("LccIcp3/Samples", std::make_pair(false, Parameters::kIcpDownsamplingStep())));
375  removedParameters_.insert(std::make_pair("LccIcp3/MaxCorrespondenceDistance", std::make_pair(false, Parameters::kIcpMaxCorrespondenceDistance())));
376  removedParameters_.insert(std::make_pair("LccIcp3/Iterations", std::make_pair(false, Parameters::kIcpIterations())));
377  removedParameters_.insert(std::make_pair("LccIcp3/CorrespondenceRatio", std::make_pair(false, Parameters::kIcpCorrespondenceRatio())));
378  removedParameters_.insert(std::make_pair("LccIcp3/PointToPlane", std::make_pair(true, Parameters::kIcpPointToPlane())));
379  removedParameters_.insert(std::make_pair("LccIcp3/PointToPlaneNormalNeighbors", std::make_pair(true, Parameters::kIcpPointToPlaneK())));
380 
381  removedParameters_.insert(std::make_pair("LccIcp2/MaxCorrespondenceDistance", std::make_pair(true, Parameters::kIcpMaxCorrespondenceDistance())));
382  removedParameters_.insert(std::make_pair("LccIcp2/Iterations", std::make_pair(true, Parameters::kIcpIterations())));
383  removedParameters_.insert(std::make_pair("LccIcp2/CorrespondenceRatio", std::make_pair(true, Parameters::kIcpCorrespondenceRatio())));
384  removedParameters_.insert(std::make_pair("LccIcp2/VoxelSize", std::make_pair(true, Parameters::kIcpVoxelSize())));
385 
386  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionByTime", std::make_pair(true, Parameters::kRGBDProximityByTime())));
387  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionBySpace", std::make_pair(true, Parameters::kRGBDProximityBySpace())));
388  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionTime", std::make_pair(true, Parameters::kRGBDProximityByTime())));
389  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionSpace", std::make_pair(true, Parameters::kRGBDProximityBySpace())));
390  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathScansMerged", std::make_pair(false, "")));
391  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxGraphDepth", std::make_pair(true, Parameters::kRGBDProximityMaxGraphDepth())));
392  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathFilteringRadius", std::make_pair(true, Parameters::kRGBDProximityPathFilteringRadius())));
393  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathRawPosesUsed", std::make_pair(true, Parameters::kRGBDProximityPathRawPosesUsed())));
394 
395  removedParameters_.insert(std::make_pair("RGBD/OptimizeStrategy", std::make_pair(true, Parameters::kOptimizerStrategy())));
396  removedParameters_.insert(std::make_pair("RGBD/OptimizeEpsilon", std::make_pair(true, Parameters::kOptimizerEpsilon())));
397  removedParameters_.insert(std::make_pair("RGBD/OptimizeIterations", std::make_pair(true, Parameters::kOptimizerIterations())));
398  removedParameters_.insert(std::make_pair("RGBD/OptimizeRobust", std::make_pair(true, Parameters::kOptimizerRobust())));
399  removedParameters_.insert(std::make_pair("RGBD/OptimizeSlam2D", std::make_pair(true, Parameters::kRegForce3DoF())));
400  removedParameters_.insert(std::make_pair("RGBD/OptimizeSlam2d", std::make_pair(true, Parameters::kRegForce3DoF())));
401  removedParameters_.insert(std::make_pair("RGBD/OptimizeVarianceIgnored", std::make_pair(true, Parameters::kOptimizerVarianceIgnored())));
402 
403  removedParameters_.insert(std::make_pair("Stereo/WinSize", std::make_pair(true, Parameters::kStereoWinWidth())));
404 
405  // before 0.11.0
406  removedParameters_.insert(std::make_pair("GFTT/MaxCorners", std::make_pair(true, Parameters::kVisMaxFeatures())));
407  removedParameters_.insert(std::make_pair("LccBow/MaxDepth", std::make_pair(true, Parameters::kVisMaxDepth())));
408  removedParameters_.insert(std::make_pair("LccReextract/LoopClosureFeatures", std::make_pair(true, Parameters::kRGBDLoopClosureReextractFeatures())));
409  removedParameters_.insert(std::make_pair("Rtabmap/DetectorStrategy", std::make_pair(true, Parameters::kKpDetectorStrategy())));
410  removedParameters_.insert(std::make_pair("RGBD/ScanMatchingSize", std::make_pair(true, Parameters::kRGBDNeighborLinkRefining())));
411  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionRadius", std::make_pair(true, Parameters::kRGBDLocalRadius())));
412  removedParameters_.insert(std::make_pair("RGBD/ToroIterations", std::make_pair(true, Parameters::kOptimizerIterations())));
413  removedParameters_.insert(std::make_pair("Mem/RehearsedNodesKept", std::make_pair(true, Parameters::kMemNotLinkedNodesKept())));
414  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxDiffID", std::make_pair(true, Parameters::kRGBDProximityMaxGraphDepth())));
415  removedParameters_.insert(std::make_pair("RGBD/PlanVirtualLinksMaxDiffID", std::make_pair(false, "")));
416  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxDiffID", std::make_pair(false, "")));
417  removedParameters_.insert(std::make_pair("Odom/Type", std::make_pair(true, Parameters::kVisFeatureType())));
418  removedParameters_.insert(std::make_pair("Odom/MaxWords", std::make_pair(true, Parameters::kVisMaxFeatures())));
419  removedParameters_.insert(std::make_pair("Odom/LocalHistory", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
420  removedParameters_.insert(std::make_pair("Odom/NearestNeighbor", std::make_pair(true, Parameters::kVisCorNNType())));
421  removedParameters_.insert(std::make_pair("Odom/NNDR", std::make_pair(true, Parameters::kVisCorNNDR())));
422  }
423  return removedParameters_;
424 }
425 
426 const ParametersMap & Parameters::getBackwardCompatibilityMap()
427 {
428  if(backwardCompatibilityMap_.empty())
429  {
430  getRemovedParameters(); // make sure removedParameters is filled
431 
432  // compatibility
433  for(std::map<std::string, std::pair<bool, std::string> >::iterator iter=removedParameters_.begin();
434  iter!=removedParameters_.end();
435  ++iter)
436  {
437  if(iter->second.first)
438  {
439  backwardCompatibilityMap_.insert(ParametersPair(iter->second.second, iter->first));
440  }
441  }
442  }
443  return backwardCompatibilityMap_;
444 }
445 
446 std::string Parameters::getType(const std::string & paramKey)
447 {
448  std::string type;
449  ParametersMap::iterator iter = parametersType_.find(paramKey);
450  if(iter != parametersType_.end())
451  {
452  type = iter->second;
453  }
454  else
455  {
456  UERROR("Parameters \"%s\" doesn't exist!", paramKey.c_str());
457  }
458  return type;
459 }
460 
461 std::string Parameters::getDescription(const std::string & paramKey)
462 {
463  std::string description;
464  ParametersMap::iterator iter = descriptions_.find(paramKey);
465  if(iter != descriptions_.end())
466  {
467  description = iter->second;
468  }
469  else
470  {
471  UERROR("Parameters \"%s\" doesn't exist!", paramKey.c_str());
472  }
473  return description;
474 }
475 
476 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, bool & value)
477 {
478  ParametersMap::const_iterator iter = parameters.find(key);
479  if(iter != parameters.end())
480  {
481  value = uStr2Bool(iter->second.c_str());
482  return true;
483  }
484  return false;
485 }
486 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, int & value)
487 {
488  ParametersMap::const_iterator iter = parameters.find(key);
489  if(iter != parameters.end())
490  {
491  value = uStr2Int(iter->second.c_str());
492  return true;
493  }
494  return false;
495 }
496 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, unsigned int & value)
497 {
498  ParametersMap::const_iterator iter = parameters.find(key);
499  if(iter != parameters.end())
500  {
501  value = uStr2Int(iter->second.c_str());
502  return true;
503  }
504  return false;
505 }
506 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, float & value)
507 {
508  ParametersMap::const_iterator iter = parameters.find(key);
509  if(iter != parameters.end())
510  {
511  value = uStr2Float(iter->second);
512  return true;
513  }
514  return false;
515 }
516 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, double & value)
517 {
518  ParametersMap::const_iterator iter = parameters.find(key);
519  if(iter != parameters.end())
520  {
521  value = uStr2Double(iter->second);
522  return true;
523  }
524  return false;
525 }
526 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, std::string & value)
527 {
528  ParametersMap::const_iterator iter = parameters.find(key);
529  if(iter != parameters.end())
530  {
531  value = iter->second;
532  return true;
533  }
534  return false;
535 }
536 void Parameters::parse(const ParametersMap & parameters, ParametersMap & parametersOut)
537 {
538  for(ParametersMap::iterator iter=parametersOut.begin(); iter!=parametersOut.end(); ++iter)
539  {
540  ParametersMap::const_iterator jter = parameters.find(iter->first);
541  if(jter != parameters.end())
542  {
543  iter->second = jter->second;
544  }
545  }
546 }
547 
548 const char * Parameters::showUsage()
549 {
550  return "RTAB-Map options:\n"
551  " --help Show usage.\n"
552  " --version Show version of rtabmap and its dependencies.\n"
553  " --params Show all parameters with their default value and description. \n"
554  " If a database path is set as last argument, the parameters in the \n"
555  " database will be shown in INI format.\n"
556  " --\"parameter name\" \"value\" Overwrite a specific RTAB-Map's parameter :\n"
557  " --SURF/HessianThreshold 150\n"
558  " For parameters in table format, add ',' between values :\n"
559  " --Kp/RoiRatios 0,0,0.1,0\n"
560  "Logger options:\n"
561  " --nolog Disable logger\n"
562  " --logconsole Set logger console type\n"
563  " --logfile \"path\" Set logger file type\n"
564  " --logfilea \"path\" Set logger file type with appending mode if the file already exists\n"
565  " --udebug Set logger level to debug\n"
566  " --uinfo Set logger level to info\n"
567  " --uwarn Set logger level to warn\n"
568  " --uerror Set logger level to error\n"
569  " --logtime \"bool\" Print time when logging\n"
570  " --logwhere \"bool\" Print where when logging\n"
571  " --logthread \"bool\" Print thread id when logging\n"
572  ;
573 }
574 
575 ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParameters)
576 {
577  ParametersMap out;
578  const ParametersMap & parameters = getDefaultParameters();
579  const std::map<std::string, std::pair<bool, std::string> > & removedParams = getRemovedParameters();
580  for(int i=0;i<argc;++i)
581  {
582  bool checkParameters = onlyParameters;
583  if(!checkParameters)
584  {
585  if(strcmp(argv[i], "--help") == 0)
586  {
587  std::cout << showUsage() << std::endl;
588  exit(0);
589  }
590  else if(strcmp(argv[i], "--version") == 0)
591  {
592  std::string str = "RTAB-Map:";
593 
594  int spacing = 30;
595  std::cout << str << std::setw(spacing - str.size()) << RTABMAP_VERSION << std::endl;
596  str = "PCL:";
597  std::cout << str << std::setw(spacing - str.size()) << PCL_VERSION_PRETTY << std::endl;
598  str = "With VTK:";
599 #ifndef DISABLE_VTK
600  std::cout << str << std::setw(spacing - str.size()) << vtkVersion::GetVTKVersion() << std::endl;
601 #else
602  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
603 #endif
604  str = "OpenCV:";
605  std::cout << str << std::setw(spacing - str.size()) << CV_VERSION << std::endl;
606 #if CV_MAJOR_VERSION >= 3
607  str = "With OpenCV xfeatures2d:";
608 #ifdef HAVE_OPENCV_XFEATURES2D
609  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
610 #else
611  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
612 #endif
613 #endif
614  str = "With OpenCV nonfree:";
615 #ifdef RTABMAP_NONFREE
616  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
617 #else
618  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
619 #endif
620  str = "With ORB OcTree:";
621 #ifdef RTABMAP_ORB_OCTREE
622  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
623 #else
624  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
625 #endif
626  str = "With SuperPoint Torch:";
627 #ifdef RTABMAP_SUPERPOINT_TORCH
628  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
629 #else
630  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
631 #endif
632  str = "With Python3:";
633 #ifdef RTABMAP_PYMATCHER
634  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
635 #else
636  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
637 #endif
638  str = "With FastCV:";
639 #ifdef RTABMAP_FASTCV
640  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
641 #else
642  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
643 #endif
644  str = "With Madgwick:";
645 #ifdef RTABMAP_MADGWICK
646  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
647 #else
648  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
649 #endif
650  str = "With TORO:";
651 #ifdef RTABMAP_TORO
652  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
653 #else
654  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
655 #endif
656  str = "With g2o:";
657 #ifdef RTABMAP_G2O
658  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
659 #else
660  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
661 #endif
662  str = "With GTSAM:";
663 #ifdef RTABMAP_GTSAM
664  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
665 #else
666  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
667 #endif
668  str = "With Vertigo:";
669 #ifdef RTABMAP_VERTIGO
670  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
671 #else
672  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
673 #endif
674  str = "With CVSBA:";
675 #ifdef RTABMAP_CVSBA
676  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
677 #else
678  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
679 #endif
680  str = "With Ceres:";
681 #ifdef RTABMAP_CERES
682  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
683 #else
684  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
685 #endif
686  str = "With OpenNI2:";
687 #ifdef RTABMAP_OPENNI2
688  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
689 #else
690  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
691 #endif
692  str = "With Freenect:";
693 #ifdef RTABMAP_FREENECT
694  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
695 #else
696  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
697 #endif
698  str = "With Freenect2:";
699 #ifdef RTABMAP_FREENECT2
700  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
701 #else
702  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
703 #endif
704  str = "With K4W2:";
705 #ifdef RTABMAP_K4W2
706  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
707 #else
708  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
709 #endif
710  str = "With K4A:";
711 #ifdef RTABMAP_K4A
712  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
713 #else
714  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
715 #endif
716  str = "With DC1394:";
717 #ifdef RTABMAP_DC1394
718  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
719 #else
720  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
721 #endif
722  str = "With FlyCapture2:";
723 #ifdef RTABMAP_FLYCAPTURE2
724  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
725 #else
726  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
727 #endif
728  str = "With ZED:";
729 #ifdef RTABMAP_ZED
730  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
731 #else
732  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
733 #endif
734  str = "With RealSense:";
735 #ifdef RTABMAP_REALSENSE
736  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
737 #else
738  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
739 #endif
740  str = "With RealSense SLAM:";
741 #ifdef RTABMAP_REALSENSE_SLAM
742  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
743 #else
744  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
745 #endif
746  str = "With RealSense2:";
747 #ifdef RTABMAP_REALSENSE2
748  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
749 #else
750  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
751 #endif
752  str = "With MYNT EYE S:";
753 #ifdef RTABMAP_MYNTEYE
754  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
755 #else
756  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
757 #endif
758  str = "With libpointmatcher:";
759 #ifdef RTABMAP_POINTMATCHER
760  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
761 #else
762  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
763 #endif
764  str = "With octomap:";
765 #ifdef RTABMAP_OCTOMAP
766  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
767 #else
768  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
769 #endif
770  str = "With cpu-tsdf:";
771 #ifdef RTABMAP_CPUTSDF
772  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
773 #else
774  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
775 #endif
776  str = "With open chisel:";
777 #ifdef RTABMAP_OPENCHISEL
778  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
779 #else
780  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
781 #endif
782  str = "With Alice Vision:";
783 #ifdef RTABMAP_ALICE_VISION
784  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
785 #else
786  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
787 #endif
788  str = "With LOAM:";
789 #ifdef RTABMAP_LOAM
790  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
791 #else
792  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
793 #endif
794  str = "With FOVIS:";
795 #ifdef RTABMAP_FOVIS
796  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
797 #else
798  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
799 #endif
800  str = "With Viso2:";
801 #ifdef RTABMAP_VISO2
802  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
803 #else
804  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
805 #endif
806  str = "With DVO:";
807 #ifdef RTABMAP_DVO
808  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
809 #else
810  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
811 #endif
812  str = "With ORB_SLAM2:";
813 #ifdef RTABMAP_ORB_SLAM2
814  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
815 #else
816  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
817 #endif
818  str = "With OKVIS:";
819 #ifdef RTABMAP_OKVIS
820  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
821 #else
822  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
823 #endif
824  str = "With MSCKF_VIO:";
825 #ifdef RTABMAP_MSCKF_VIO
826  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
827 #else
828  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
829 #endif
830  str = "With VINS-Fusion:";
831 #ifdef RTABMAP_VINS
832  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
833 #else
834  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
835 #endif
836  exit(0);
837  }
838  else if(strcmp(argv[i], "--nolog") == 0)
839  {
840  ULogger::setType(ULogger::kTypeNoLog);
841  }
842  else if(strcmp(argv[i], "--logconsole") == 0)
843  {
844  ULogger::setType(ULogger::kTypeConsole);
845  }
846  else if(strcmp(argv[i], "--logfile") == 0)
847  {
848  ++i;
849  if(i < argc)
850  {
851  ULogger::setType(ULogger::kTypeFile, argv[i], false);
852  }
853  else
854  {
855  UERROR("\"--logfile\" argument requires following file path");
856  }
857  }
858  else if(strcmp(argv[i], "--logfilea") == 0)
859  {
860  ++i;
861  if(i < argc)
862  {
863  ULogger::setType(ULogger::kTypeFile, argv[i], true);
864  }
865  else
866  {
867  UERROR("\"--logfilea\" argument requires following file path");
868  }
869  }
870  else if(strcmp(argv[i], "--udebug") == 0)
871  {
872  ULogger::setLevel(ULogger::kDebug);
873  }
874  else if(strcmp(argv[i], "--uinfo") == 0)
875  {
876  ULogger::setLevel(ULogger::kInfo);
877  }
878  else if(strcmp(argv[i], "--uwarn") == 0)
879  {
880  ULogger::setLevel(ULogger::kWarning);
881  }
882  else if(strcmp(argv[i], "--uerror") == 0)
883  {
884  ULogger::setLevel(ULogger::kError);
885  }
886  else if(strcmp(argv[i], "--ulogtime") == 0)
887  {
888  ++i;
889  if(i < argc)
890  {
891  ULogger::setPrintTime(uStr2Bool(argv[i]));
892  }
893  else
894  {
895  UERROR("\"--ulogtime\" argument requires a following boolean value");
896  }
897  }
898  else if(strcmp(argv[i], "--ulogwhere") == 0)
899  {
900  ++i;
901  if(i < argc)
902  {
903  ULogger::setPrintWhere(uStr2Bool(argv[i]));
904  }
905  else
906  {
907  UERROR("\"--ulogwhere\" argument requires a following boolean value");
908  }
909  }
910  else if(strcmp(argv[i], "--ulogthread") == 0)
911  {
912  ++i;
913  if(i < argc)
914  {
915  ULogger::setPrintThreadId(uStr2Bool(argv[i]));
916  }
917  else
918  {
919  UERROR("\"--ulogthread\" argument requires a following boolean value");
920  }
921  }
922  else
923  {
924  checkParameters = true;
925  }
926  }
927 
928  if(checkParameters) // check for parameters
929  {
930  if(strcmp(argv[i], "--params") == 0)
931  {
932  if (i < argc - 1)
933  {
934  // If the last argument is a database, dump the parameters in INI format
935  std::string dbName = argv[argc - 1];
936  if (UFile::exists(dbName) && UFile::getExtension(dbName).compare("db") == 0)
937  {
938  DBDriver * driver = DBDriver::create();
939  bool read = false;
940  if (driver->openConnection(dbName))
941  {
942  ParametersMap dbParameters = driver->getLastParameters();
943  if (!dbParameters.empty())
944  {
945  std::cout << "[Core]" << std::endl;
946  std::cout << "Version = " << RTABMAP_VERSION << std::endl;
947  for (ParametersMap::const_iterator iter = dbParameters.begin(); iter != dbParameters.end(); ++iter)
948  {
949  std::string key = iter->first;
950  key = uReplaceChar(key, '/', '\\'); // Ini files use \ by default for separators, so replace the /
951 
952  std::string value = iter->second.c_str();
953  value = uReplaceChar(value, '\\', '/'); // use always slash for values
954 
955  std::cout << key << " = " << value << std::endl;
956  }
957  read = true;
958  }
959  driver->closeConnection(false);
960  }
961  delete driver;
962  if (read)
963  {
964  exit(0);
965  }
966  }
967  }
968 
969  for(rtabmap::ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
970  {
971  bool ignore = false;
972  UASSERT(uSplit(iter->first, '/').size() == 2);
973  std::string group = uSplit(iter->first, '/').front();
974 #ifndef RTABMAP_GTSAM
975  if(group.compare("GTSAM") == 0)
976  {
977  ignore = true;
978  }
979 #endif
980 #ifndef RTABMAP_G2O
981  if(group.compare("g2o") == 0)
982  {
983  ignore = true;
984  }
985 #endif
986 #ifndef RTABMAP_FOVIS
987  if(group.compare("OdomFovis") == 0)
988  {
989  ignore = true;
990  }
991 #endif
992 #ifndef RTABMAP_VISO2
993  if(group.compare("OdomViso2") == 0)
994  {
995  ignore = true;
996  }
997 #endif
998 #ifndef RTABMAP_ORBSLAM2
999  if(group.compare("OdomORBSLAM2") == 0)
1000  {
1001  ignore = true;
1002  }
1003 #endif
1004 #ifndef RTABMAP_OKVIS
1005  if(group.compare("OdomOKVIS") == 0)
1006  {
1007  ignore = true;
1008  }
1009 #endif
1010 #ifndef RTABMAP_LOAM
1011  if(group.compare("OdomLOAM") == 0)
1012  {
1013  ignore = true;
1014  }
1015 #endif
1016 #ifndef RTABMAP_MSCKF_VIO
1017  if(group.compare("OdomMSCKF") == 0)
1018  {
1019  ignore = true;
1020  }
1021 #endif
1022  if(!ignore)
1023  {
1024  std::string str = "Param: " + iter->first + " = \"" + iter->second + "\"";
1025  std::cout <<
1026  str <<
1027  std::setw(60 - str.size()) <<
1028  " [" <<
1029  rtabmap::Parameters::getDescription(iter->first).c_str() <<
1030  "]" <<
1031  std::endl;
1032  }
1033  }
1034  exit(0);
1035  }
1036  else
1037  {
1038  std::string key = uReplaceChar(argv[i], '-', "");
1039  ParametersMap::const_iterator iter = parameters.find(key);
1040  if(iter != parameters.end())
1041  {
1042  ++i;
1043  if(i < argc)
1044  {
1045  uInsert(out, ParametersPair(iter->first, argv[i]));
1046  UINFO("Parsed parameter \"%s\"=\"%s\"", iter->first.c_str(), argv[i]);
1047  }
1048  }
1049  else
1050  {
1051  // backward compatibility
1052  std::map<std::string, std::pair<bool, std::string> >::const_iterator jter = removedParams.find(key);
1053  if(jter!=removedParams.end())
1054  {
1055  if(jter->second.first)
1056  {
1057  ++i;
1058  if(i < argc)
1059  {
1060  std::string value = argv[i];
1061  if(!value.empty())
1062  {
1063  value = uReplaceChar(value, ',', ' '); // for table
1064  key = jter->second.second;
1065  UWARN("Parameter migration from \"%s\" to \"%s\" (value=%s).",
1066  jter->first.c_str(), jter->second.second.c_str(), value.c_str());
1067  uInsert(out, ParametersPair(key, value));
1068  }
1069  }
1070  else
1071  {
1072  UERROR("Value missing for argument \"%s\"", argv[i-1]);
1073  }
1074  }
1075  else if(jter->second.second.empty())
1076  {
1077  UERROR("Parameter \"%s\" doesn't exist anymore.", jter->first.c_str());
1078  }
1079  else
1080  {
1081  UERROR("Parameter \"%s\" doesn't exist anymore, check this similar parameter \"%s\".", jter->first.c_str(), jter->second.second.c_str());
1082  }
1083  }
1084  }
1085  }
1086  }
1087  }
1088  return out;
1089 }
1090 
1091 
1092 void Parameters::readINI(const std::string & configFile, ParametersMap & parameters, bool modifiedOnly)
1093 {
1094  CSimpleIniA ini;
1095  ini.LoadFile(configFile.c_str());
1096  const CSimpleIniA::TKeyVal * keyValMap = ini.GetSection("Core");
1097  if(keyValMap)
1098  {
1099  for(CSimpleIniA::TKeyVal::const_iterator iter=keyValMap->begin(); iter!=keyValMap->end(); ++iter)
1100  {
1101  std::string key = (*iter).first.pItem;
1102  if(key.compare("Version") == 0)
1103  {
1104  // Compare version in ini with the current RTAB-Map version
1105  std::vector<std::string> version = uListToVector(uSplit((*iter).second, '.'));
1106  if(version.size() == 3)
1107  {
1108  if(!RTABMAP_VERSION_COMPARE(std::atoi(version[0].c_str()), std::atoi(version[1].c_str()), std::atoi(version[2].c_str())))
1109  {
1110  if(configFile.find(".rtabmap") != std::string::npos)
1111  {
1112  UWARN("Version in the config file \"%s\" is more recent (\"%s\") than "
1113  "current RTAB-Map version used (\"%s\"). The config file will be upgraded "
1114  "to new version.",
1115  configFile.c_str(),
1116  (*iter).second,
1117  RTABMAP_VERSION);
1118  }
1119  else
1120  {
1121  UERROR("Version in the config file \"%s\" is more recent (\"%s\") than "
1122  "current RTAB-Map version used (\"%s\"). New parameters (if there are some) will "
1123  "be ignored.",
1124  configFile.c_str(),
1125  (*iter).second,
1126  RTABMAP_VERSION);
1127  }
1128  }
1129  }
1130  }
1131  else
1132  {
1133  key = uReplaceChar(key, '\\', '/'); // Ini files use \ by default for separators, so replace them
1134 
1135  // look for old parameter name
1136  std::map<std::string, std::pair<bool, std::string> >::const_iterator oldIter = Parameters::getRemovedParameters().find(key);
1137  if(oldIter!=Parameters::getRemovedParameters().end())
1138  {
1139  if(oldIter->second.first)
1140  {
1141  if(parameters.find(oldIter->second.second) == parameters.end())
1142  {
1143  key = oldIter->second.second;
1144  UINFO("Parameter migration from \"%s\" to \"%s\" (value=%s, default=%s).",
1145  oldIter->first.c_str(), oldIter->second.second.c_str(), iter->second, Parameters::getDefaultParameters().at(oldIter->second.second).c_str());
1146  }
1147  }
1148  else if(oldIter->second.second.empty())
1149  {
1150  UWARN("Parameter \"%s\" doesn't exist anymore.",
1151  oldIter->first.c_str());
1152  }
1153  else if(parameters.find(oldIter->second.second) == parameters.end())
1154  {
1155  UWARN("Parameter \"%s\" (value=%s) doesn't exist anymore, you may want to use this similar parameter \"%s (default=%s): %s\".",
1156  oldIter->first.c_str(), iter->second, oldIter->second.second.c_str(), Parameters::getDefaultParameters().at(oldIter->second.second).c_str(), Parameters::getDescription(oldIter->second.second).c_str());
1157  }
1158 
1159  }
1160 
1161  if(Parameters::getDefaultParameters().find(key) != Parameters::getDefaultParameters().end())
1162  {
1163  if(!modifiedOnly || std::string(iter->second).compare(Parameters::getDefaultParameters().find(key)->second) != 0)
1164  {
1165  uInsert(parameters, ParametersPair(key, iter->second));
1166  }
1167  }
1168  }
1169  }
1170  }
1171  else
1172  {
1173  ULOGGER_WARN("Section \"Core\" in %s doesn't exist... "
1174  "Ignore this warning if the ini file does not exist yet. "
1175  "The ini file will be automatically created when rtabmap will close.", configFile.c_str());
1176  }
1177 }
1178 
1179 void Parameters::writeINI(const std::string & configFile, const ParametersMap & parameters)
1180 {
1181  CSimpleIniA ini;
1182  ini.LoadFile(configFile.c_str());
1183 
1184  // Save current version
1185  ini.SetValue("Core", "Version", RTABMAP_VERSION, NULL, true);
1186 
1187  for(ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
1188  {
1189  std::string key = iter->first;
1190  key = uReplaceChar(key, '/', '\\'); // Ini files use \ by default for separators, so replace the /
1191 
1192  std::string value = iter->second.c_str();
1193  value = uReplaceChar(value, '\\', '/'); // use always slash for values
1194 
1195  ini.SetValue("Core", key.c_str(), value.c_str(), NULL, true);
1196  }
1197 
1198  // Delete removed parameters
1199  if(parameters.size() == getDefaultParameters().size())
1200  {
1201  for(std::map<std::string, std::pair<bool, std::string> >::const_iterator iter = removedParameters_.begin();
1202  iter!=removedParameters_.end();
1203  ++iter)
1204  {
1205  std::string key = iter->first;
1206  key = uReplaceChar(key, '/', '\\'); // Ini files use \ by default for separators, so replace the /
1207 
1208  std::string value = ini.GetValue("Core", key.c_str(), "");
1209 
1210  if(ini.Delete("Core", key.c_str(), true))
1211  {
1212  if(iter->second.first && parameters.find(iter->second.second) != parameters.end())
1213  {
1214  UWARN("Removed deprecated parameter %s=%s (replaced by %s=%s) from \"%s\".", iter->first.c_str(), value.c_str(), iter->second.second.c_str(), parameters.at(iter->second.second).c_str(), configFile.c_str());
1215  }
1216  else
1217  {
1218  UWARN("Removed deprecated parameter %s=%s from \"%s\".", iter->first.c_str(), value.c_str(), configFile.c_str());
1219  }
1220  }
1221  }
1222  }
1223 
1224  ini.SaveFile(configFile.c_str());
1225 }
1226 
1227 }
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rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:34:59