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00028 #include "rtabmap/core/Parameters.h"
00029 #include <rtabmap/utilite/UDirectory.h>
00030 #include <rtabmap/utilite/ULogger.h>
00031 #include <rtabmap/utilite/UConversion.h>
00032 #include <rtabmap/utilite/UStl.h>
00033 #include <cmath>
00034 #include <stdlib.h>
00035 #include <sstream>
00036 #include <iostream>
00037 #include <iomanip>
00038 #include "SimpleIni.h"
00039
00040 namespace rtabmap
00041 {
00042
00043 ParametersMap Parameters::parameters_;
00044 ParametersMap Parameters::parametersType_;
00045 ParametersMap Parameters::descriptions_;
00046 Parameters Parameters::instance_;
00047 std::map<std::string, std::pair<bool, std::string> > Parameters::removedParameters_;
00048 ParametersMap Parameters::backwardCompatibilityMap_;
00049
00050 Parameters::Parameters()
00051 {
00052 }
00053
00054 Parameters::~Parameters()
00055 {
00056 }
00057
00058 std::string Parameters::createDefaultWorkingDirectory()
00059 {
00060 std::string path = UDirectory::homeDir();
00061 if(!path.empty())
00062 {
00063 UDirectory::makeDir(path += UDirectory::separator() + "Documents");
00064 UDirectory::makeDir(path += UDirectory::separator() + "RTAB-Map");
00065
00066 }
00067 else
00068 {
00069 UFATAL("Can't get the HOME variable environment!");
00070 }
00071 return path;
00072 }
00073
00074 std::string Parameters::getVersion()
00075 {
00076 return RTABMAP_VERSION;
00077 return "";
00078 }
00079
00080 std::string Parameters::getDefaultDatabaseName()
00081 {
00082 return "rtabmap.db";
00083 }
00084
00085 std::string Parameters::serialize(const ParametersMap & parameters)
00086 {
00087 std::stringstream output;
00088 for(ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
00089 {
00090 if(iter != parameters.begin())
00091 {
00092 output << ";";
00093 }
00094
00095 output << iter->first << ":" << uReplaceChar(iter->second, ',', '.');
00096 }
00097 UDEBUG("output=%s", output.str().c_str());
00098 return output.str();
00099 }
00100
00101 ParametersMap Parameters::deserialize(const std::string & parameters)
00102 {
00103 UDEBUG("parameters=%s", parameters.c_str());
00104 ParametersMap output;
00105 std::list<std::string> tuplets = uSplit(parameters, ';');
00106 for(std::list<std::string>::iterator iter=tuplets.begin(); iter!=tuplets.end(); ++iter)
00107 {
00108 std::list<std::string> p = uSplit(*iter, ':');
00109 if(p.size() == 2)
00110 {
00111 std::string key = p.front();
00112 std::string value = p.back();
00113
00114
00115 bool addParameter = true;
00116 std::map<std::string, std::pair<bool, std::string> >::const_iterator oldIter = Parameters::getRemovedParameters().find(key);
00117 if(oldIter!=Parameters::getRemovedParameters().end())
00118 {
00119 addParameter = oldIter->second.first;
00120 if(addParameter)
00121 {
00122 key = oldIter->second.second;
00123 UWARN("Parameter migration from \"%s\" to \"%s\" (value=%s).",
00124 oldIter->first.c_str(), oldIter->second.second.c_str(), value.c_str());
00125 }
00126 else if(oldIter->second.second.empty())
00127 {
00128 UWARN("Parameter \"%s\" doesn't exist anymore.",
00129 oldIter->first.c_str());
00130 }
00131 else
00132 {
00133 UWARN("Parameter \"%s\" doesn't exist anymore, you may want to use this similar parameter \"%s\":\"%s\".",
00134 oldIter->first.c_str(), oldIter->second.second.c_str(), Parameters::getDescription(oldIter->second.second).c_str());
00135 }
00136
00137 }
00138
00139 if(oldIter==Parameters::getRemovedParameters().end() &&
00140 Parameters::getDefaultParameters().find(key) == Parameters::getDefaultParameters().end())
00141 {
00142 UWARN("Unknown parameter \"%s\"=\"%s\"! The parameter is still added to output map.", key.c_str(), value.c_str());
00143 }
00144 uInsert(output, ParametersPair(key, value));
00145 }
00146 }
00147 return output;
00148 }
00149
00150 bool Parameters::isFeatureParameter(const std::string & parameter)
00151 {
00152 std::string group = uSplit(parameter, '/').front();
00153 return group.compare("SURF") == 0 ||
00154 group.compare("SIFT") == 0 ||
00155 group.compare("ORB") == 0 ||
00156 group.compare("FAST") == 0 ||
00157 group.compare("FREAK") == 0 ||
00158 group.compare("BRIEF") == 0 ||
00159 group.compare("GFTT") == 0 ||
00160 group.compare("BRISK") == 0 ||
00161 group.compare("KAZE") == 0;
00162 }
00163
00164 rtabmap::ParametersMap Parameters::getDefaultOdometryParameters(bool stereo, bool vis, bool icp)
00165 {
00166 rtabmap::ParametersMap odomParameters;
00167 rtabmap::ParametersMap defaultParameters = rtabmap::Parameters::getDefaultParameters();
00168 for(rtabmap::ParametersMap::iterator iter=defaultParameters.begin(); iter!=defaultParameters.end(); ++iter)
00169 {
00170 std::string group = uSplit(iter->first, '/').front();
00171 if(uStrContains(group, "Odom") ||
00172 (stereo && group.compare("Stereo") == 0) ||
00173 (icp && group.compare("Icp") == 0) ||
00174 (vis && Parameters::isFeatureParameter(iter->first)) ||
00175 group.compare("Reg") == 0 ||
00176 (vis && group.compare("Vis") == 0) ||
00177 iter->first.compare(kRtabmapPublishRAMUsage())==0)
00178 {
00179 if(stereo)
00180 {
00181 if(iter->first.compare(Parameters::kVisEstimationType()) == 0)
00182 {
00183 iter->second = "1";
00184 }
00185 }
00186 odomParameters.insert(*iter);
00187 }
00188 }
00189 return odomParameters;
00190 }
00191
00192 ParametersMap Parameters::getDefaultParameters(const std::string & groupIn)
00193 {
00194 rtabmap::ParametersMap parameters;
00195 const rtabmap::ParametersMap & defaultParameters = rtabmap::Parameters::getDefaultParameters();
00196 for(rtabmap::ParametersMap::const_iterator iter=defaultParameters.begin(); iter!=defaultParameters.end(); ++iter)
00197 {
00198 UASSERT(uSplit(iter->first, '/').size() == 2);
00199 std::string group = uSplit(iter->first, '/').front();
00200 if(group.compare(groupIn) == 0)
00201 {
00202 parameters.insert(*iter);
00203 }
00204 }
00205 UASSERT_MSG(parameters.size(), uFormat("No parameters found for group %s!", groupIn.c_str()).c_str());
00206 return parameters;
00207 }
00208
00209 ParametersMap Parameters::filterParameters(const ParametersMap & parameters, const std::string & groupIn)
00210 {
00211 ParametersMap output;
00212 for(rtabmap::ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
00213 {
00214 UASSERT(uSplit(iter->first, '/').size() == 2);
00215 std::string group = uSplit(iter->first, '/').front();
00216 if(group.compare(groupIn) == 0)
00217 {
00218 output.insert(*iter);
00219 }
00220 }
00221 return output;
00222 }
00223
00224 const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemovedParameters()
00225 {
00226 if(removedParameters_.empty())
00227 {
00228
00229
00230
00231 removedParameters_.insert(std::make_pair("Grid/OctoMapOccupancyThr", std::make_pair(true, Parameters::kGridGlobalOccupancyThr())));
00232
00233
00234 removedParameters_.insert(std::make_pair("Grid/Scan2dMaxFilledRange", std::make_pair(false, Parameters::kGridRangeMax())));
00235
00236
00237 removedParameters_.insert(std::make_pair("Grid/ProjRayTracing", std::make_pair(true, Parameters::kGridRayTracing())));
00238 removedParameters_.insert(std::make_pair("Grid/DepthMin", std::make_pair(true, Parameters::kGridRangeMin())));
00239 removedParameters_.insert(std::make_pair("Grid/DepthMax", std::make_pair(true, Parameters::kGridRangeMax())));
00240
00241
00242 removedParameters_.insert(std::make_pair("Reg/VarianceFromInliersCount", std::make_pair(false, "")));
00243 removedParameters_.insert(std::make_pair("Reg/VarianceNormalized", std::make_pair(false, "")));
00244
00245
00246 removedParameters_.insert(std::make_pair("Icp/PointToPlaneNormalNeighbors", std::make_pair(true, Parameters::kIcpPointToPlaneK())));
00247
00248
00249
00250 removedParameters_.insert(std::make_pair("Rtabmap/VhStrategy", std::make_pair(true, Parameters::kVhEpEnabled())));
00251
00252
00253 removedParameters_.insert(std::make_pair("Grid/FullUpdate", std::make_pair(true, Parameters::kGridGlobalFullUpdate())));
00254
00255
00256 removedParameters_.insert(std::make_pair("Grid/3DGroundIsObstacle", std::make_pair(true, Parameters::kGridGroundIsObstacle())));
00257
00258
00259 removedParameters_.insert(std::make_pair("Optimizer/Slam2D", std::make_pair(true, Parameters::kRegForce3DoF())));
00260 removedParameters_.insert(std::make_pair("OdomF2M/FixedMapPath", std::make_pair(false, "")));
00261
00262
00263 removedParameters_.insert(std::make_pair("Grid/FlatObstaclesDetected", std::make_pair(true, Parameters::kGridFlatObstacleDetected())));
00264
00265
00266 removedParameters_.insert(std::make_pair("Reg/Force2D", std::make_pair(true, Parameters::kRegForce3DoF())));
00267 removedParameters_.insert(std::make_pair("OdomF2M/ScanSubstractRadius", std::make_pair(true, Parameters::kOdomF2MScanSubtractRadius())));
00268
00269
00270 removedParameters_.insert(std::make_pair("RGBD/ProximityPathScansMerged", std::make_pair(false, "")));
00271
00272
00273 removedParameters_.insert(std::make_pair("Mem/ImageDecimation", std::make_pair(true, Parameters::kMemImagePostDecimation())));
00274
00275
00276 removedParameters_.insert(std::make_pair("OdomLocalMap/HistorySize", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
00277 removedParameters_.insert(std::make_pair("OdomLocalMap/FixedMapPath", std::make_pair(false, "")));
00278 removedParameters_.insert(std::make_pair("OdomF2F/GuessMotion", std::make_pair(true, Parameters::kOdomGuessMotion())));
00279 removedParameters_.insert(std::make_pair("OdomF2F/KeyFrameThr", std::make_pair(false, Parameters::kOdomKeyFrameThr())));
00280
00281
00282 removedParameters_.insert(std::make_pair("OdomBow/LocalHistorySize", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
00283 removedParameters_.insert(std::make_pair("OdomBow/FixedLocalMapPath", std::make_pair(false, "")));
00284 removedParameters_.insert(std::make_pair("OdomFlow/KeyFrameThr", std::make_pair(false, Parameters::kOdomKeyFrameThr())));
00285 removedParameters_.insert(std::make_pair("OdomFlow/GuessMotion", std::make_pair(true, Parameters::kOdomGuessMotion())));
00286
00287 removedParameters_.insert(std::make_pair("Kp/WordsPerImage", std::make_pair(true, Parameters::kKpMaxFeatures())));
00288
00289 removedParameters_.insert(std::make_pair("Mem/LocalSpaceLinksKeptInWM", std::make_pair(false, "")));
00290
00291 removedParameters_.insert(std::make_pair("RGBD/PoseScanMatching", std::make_pair(true, Parameters::kRGBDNeighborLinkRefining())));
00292
00293 removedParameters_.insert(std::make_pair("Odom/ParticleFiltering", std::make_pair(false, Parameters::kOdomFilteringStrategy())));
00294 removedParameters_.insert(std::make_pair("Odom/FeatureType", std::make_pair(true, Parameters::kVisFeatureType())));
00295 removedParameters_.insert(std::make_pair("Odom/EstimationType", std::make_pair(true, Parameters::kVisEstimationType())));
00296 removedParameters_.insert(std::make_pair("Odom/MaxFeatures", std::make_pair(true, Parameters::kVisMaxFeatures())));
00297 removedParameters_.insert(std::make_pair("Odom/InlierDistance", std::make_pair(true, Parameters::kVisInlierDistance())));
00298 removedParameters_.insert(std::make_pair("Odom/MinInliers", std::make_pair(true, Parameters::kVisMinInliers())));
00299 removedParameters_.insert(std::make_pair("Odom/Iterations", std::make_pair(true, Parameters::kVisIterations())));
00300 removedParameters_.insert(std::make_pair("Odom/RefineIterations", std::make_pair(true, Parameters::kVisRefineIterations())));
00301 removedParameters_.insert(std::make_pair("Odom/MaxDepth", std::make_pair(true, Parameters::kVisMaxDepth())));
00302 removedParameters_.insert(std::make_pair("Odom/RoiRatios", std::make_pair(true, Parameters::kVisRoiRatios())));
00303 removedParameters_.insert(std::make_pair("Odom/Force2D", std::make_pair(true, Parameters::kRegForce3DoF())));
00304 removedParameters_.insert(std::make_pair("Odom/VarianceFromInliersCount", std::make_pair(false, "")));
00305 removedParameters_.insert(std::make_pair("Odom/PnPReprojError", std::make_pair(true, Parameters::kVisPnPReprojError())));
00306 removedParameters_.insert(std::make_pair("Odom/PnPFlags", std::make_pair(true, Parameters::kVisPnPFlags())));
00307
00308 removedParameters_.insert(std::make_pair("OdomBow/NNType", std::make_pair(true, Parameters::kVisCorNNType())));
00309 removedParameters_.insert(std::make_pair("OdomBow/NNDR", std::make_pair(true, Parameters::kVisCorNNDR())));
00310
00311 removedParameters_.insert(std::make_pair("OdomFlow/WinSize", std::make_pair(true, Parameters::kVisCorFlowWinSize())));
00312 removedParameters_.insert(std::make_pair("OdomFlow/Iterations", std::make_pair(true, Parameters::kVisCorFlowIterations())));
00313 removedParameters_.insert(std::make_pair("OdomFlow/Eps", std::make_pair(true, Parameters::kVisCorFlowEps())));
00314 removedParameters_.insert(std::make_pair("OdomFlow/MaxLevel", std::make_pair(true, Parameters::kVisCorFlowMaxLevel())));
00315
00316 removedParameters_.insert(std::make_pair("OdomSubPix/WinSize", std::make_pair(true, Parameters::kVisSubPixWinSize())));
00317 removedParameters_.insert(std::make_pair("OdomSubPix/Iterations", std::make_pair(true, Parameters::kVisSubPixIterations())));
00318 removedParameters_.insert(std::make_pair("OdomSubPix/Eps", std::make_pair(true, Parameters::kVisSubPixEps())));
00319
00320 removedParameters_.insert(std::make_pair("LccReextract/Activated", std::make_pair(true, Parameters::kRGBDLoopClosureReextractFeatures())));
00321 removedParameters_.insert(std::make_pair("LccReextract/FeatureType", std::make_pair(false, Parameters::kVisFeatureType())));
00322 removedParameters_.insert(std::make_pair("LccReextract/MaxWords", std::make_pair(false, Parameters::kVisMaxFeatures())));
00323 removedParameters_.insert(std::make_pair("LccReextract/MaxDepth", std::make_pair(false, Parameters::kVisMaxDepth())));
00324 removedParameters_.insert(std::make_pair("LccReextract/RoiRatios", std::make_pair(false, Parameters::kVisRoiRatios())));
00325 removedParameters_.insert(std::make_pair("LccReextract/NNType", std::make_pair(false, Parameters::kVisCorNNType())));
00326 removedParameters_.insert(std::make_pair("LccReextract/NNDR", std::make_pair(false, Parameters::kVisCorNNDR())));
00327
00328 removedParameters_.insert(std::make_pair("LccBow/EstimationType", std::make_pair(false, Parameters::kVisEstimationType())));
00329 removedParameters_.insert(std::make_pair("LccBow/InlierDistance", std::make_pair(false, Parameters::kVisInlierDistance())));
00330 removedParameters_.insert(std::make_pair("LccBow/MinInliers", std::make_pair(false, Parameters::kVisMinInliers())));
00331 removedParameters_.insert(std::make_pair("LccBow/Iterations", std::make_pair(false, Parameters::kVisIterations())));
00332 removedParameters_.insert(std::make_pair("LccBow/RefineIterations", std::make_pair(false, Parameters::kVisRefineIterations())));
00333 removedParameters_.insert(std::make_pair("LccBow/Force2D", std::make_pair(false, Parameters::kRegForce3DoF())));
00334 removedParameters_.insert(std::make_pair("LccBow/VarianceFromInliersCount", std::make_pair(false, "")));
00335 removedParameters_.insert(std::make_pair("LccBow/PnPReprojError", std::make_pair(false, Parameters::kVisPnPReprojError())));
00336 removedParameters_.insert(std::make_pair("LccBow/PnPFlags", std::make_pair(false, Parameters::kVisPnPFlags())));
00337 removedParameters_.insert(std::make_pair("LccBow/EpipolarGeometryVar", std::make_pair(true, Parameters::kVisEpipolarGeometryVar())));
00338
00339 removedParameters_.insert(std::make_pair("LccIcp/Type", std::make_pair(false, Parameters::kRegStrategy())));
00340
00341 removedParameters_.insert(std::make_pair("LccIcp3/Decimation", std::make_pair(false, "")));
00342 removedParameters_.insert(std::make_pair("LccIcp3/MaxDepth", std::make_pair(false, "")));
00343 removedParameters_.insert(std::make_pair("LccIcp3/VoxelSize", std::make_pair(false, Parameters::kIcpVoxelSize())));
00344 removedParameters_.insert(std::make_pair("LccIcp3/Samples", std::make_pair(false, Parameters::kIcpDownsamplingStep())));
00345 removedParameters_.insert(std::make_pair("LccIcp3/MaxCorrespondenceDistance", std::make_pair(false, Parameters::kIcpMaxCorrespondenceDistance())));
00346 removedParameters_.insert(std::make_pair("LccIcp3/Iterations", std::make_pair(false, Parameters::kIcpIterations())));
00347 removedParameters_.insert(std::make_pair("LccIcp3/CorrespondenceRatio", std::make_pair(false, Parameters::kIcpCorrespondenceRatio())));
00348 removedParameters_.insert(std::make_pair("LccIcp3/PointToPlane", std::make_pair(true, Parameters::kIcpPointToPlane())));
00349 removedParameters_.insert(std::make_pair("LccIcp3/PointToPlaneNormalNeighbors", std::make_pair(true, Parameters::kIcpPointToPlaneK())));
00350
00351 removedParameters_.insert(std::make_pair("LccIcp2/MaxCorrespondenceDistance", std::make_pair(true, Parameters::kIcpMaxCorrespondenceDistance())));
00352 removedParameters_.insert(std::make_pair("LccIcp2/Iterations", std::make_pair(true, Parameters::kIcpIterations())));
00353 removedParameters_.insert(std::make_pair("LccIcp2/CorrespondenceRatio", std::make_pair(true, Parameters::kIcpCorrespondenceRatio())));
00354 removedParameters_.insert(std::make_pair("LccIcp2/VoxelSize", std::make_pair(true, Parameters::kIcpVoxelSize())));
00355
00356 removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionByTime", std::make_pair(true, Parameters::kRGBDProximityByTime())));
00357 removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionBySpace", std::make_pair(true, Parameters::kRGBDProximityBySpace())));
00358 removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionTime", std::make_pair(true, Parameters::kRGBDProximityByTime())));
00359 removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionSpace", std::make_pair(true, Parameters::kRGBDProximityBySpace())));
00360 removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathScansMerged", std::make_pair(false, "")));
00361 removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxGraphDepth", std::make_pair(true, Parameters::kRGBDProximityMaxGraphDepth())));
00362 removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathFilteringRadius", std::make_pair(true, Parameters::kRGBDProximityPathFilteringRadius())));
00363 removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathRawPosesUsed", std::make_pair(true, Parameters::kRGBDProximityPathRawPosesUsed())));
00364
00365 removedParameters_.insert(std::make_pair("RGBD/OptimizeStrategy", std::make_pair(true, Parameters::kOptimizerStrategy())));
00366 removedParameters_.insert(std::make_pair("RGBD/OptimizeEpsilon", std::make_pair(true, Parameters::kOptimizerEpsilon())));
00367 removedParameters_.insert(std::make_pair("RGBD/OptimizeIterations", std::make_pair(true, Parameters::kOptimizerIterations())));
00368 removedParameters_.insert(std::make_pair("RGBD/OptimizeRobust", std::make_pair(true, Parameters::kOptimizerRobust())));
00369 removedParameters_.insert(std::make_pair("RGBD/OptimizeSlam2D", std::make_pair(true, Parameters::kRegForce3DoF())));
00370 removedParameters_.insert(std::make_pair("RGBD/OptimizeSlam2d", std::make_pair(true, Parameters::kRegForce3DoF())));
00371 removedParameters_.insert(std::make_pair("RGBD/OptimizeVarianceIgnored", std::make_pair(true, Parameters::kOptimizerVarianceIgnored())));
00372
00373 removedParameters_.insert(std::make_pair("Stereo/WinSize", std::make_pair(true, Parameters::kStereoWinWidth())));
00374
00375
00376 removedParameters_.insert(std::make_pair("GFTT/MaxCorners", std::make_pair(true, Parameters::kVisMaxFeatures())));
00377 removedParameters_.insert(std::make_pair("LccBow/MaxDepth", std::make_pair(true, Parameters::kVisMaxDepth())));
00378 removedParameters_.insert(std::make_pair("LccReextract/LoopClosureFeatures", std::make_pair(true, Parameters::kRGBDLoopClosureReextractFeatures())));
00379 removedParameters_.insert(std::make_pair("Rtabmap/DetectorStrategy", std::make_pair(true, Parameters::kKpDetectorStrategy())));
00380 removedParameters_.insert(std::make_pair("RGBD/ScanMatchingSize", std::make_pair(true, Parameters::kRGBDNeighborLinkRefining())));
00381 removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionRadius", std::make_pair(true, Parameters::kRGBDLocalRadius())));
00382 removedParameters_.insert(std::make_pair("RGBD/ToroIterations", std::make_pair(true, Parameters::kOptimizerIterations())));
00383 removedParameters_.insert(std::make_pair("Mem/RehearsedNodesKept", std::make_pair(true, Parameters::kMemNotLinkedNodesKept())));
00384 removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxDiffID", std::make_pair(true, Parameters::kRGBDProximityMaxGraphDepth())));
00385 removedParameters_.insert(std::make_pair("RGBD/PlanVirtualLinksMaxDiffID", std::make_pair(false, "")));
00386 removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxDiffID", std::make_pair(false, "")));
00387 removedParameters_.insert(std::make_pair("Odom/Type", std::make_pair(true, Parameters::kVisFeatureType())));
00388 removedParameters_.insert(std::make_pair("Odom/MaxWords", std::make_pair(true, Parameters::kVisMaxFeatures())));
00389 removedParameters_.insert(std::make_pair("Odom/LocalHistory", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
00390 removedParameters_.insert(std::make_pair("Odom/NearestNeighbor", std::make_pair(true, Parameters::kVisCorNNType())));
00391 removedParameters_.insert(std::make_pair("Odom/NNDR", std::make_pair(true, Parameters::kVisCorNNDR())));
00392 }
00393 return removedParameters_;
00394 }
00395
00396 const ParametersMap & Parameters::getBackwardCompatibilityMap()
00397 {
00398 if(backwardCompatibilityMap_.empty())
00399 {
00400 getRemovedParameters();
00401
00402
00403 for(std::map<std::string, std::pair<bool, std::string> >::iterator iter=removedParameters_.begin();
00404 iter!=removedParameters_.end();
00405 ++iter)
00406 {
00407 if(iter->second.first)
00408 {
00409 backwardCompatibilityMap_.insert(ParametersPair(iter->second.second, iter->first));
00410 }
00411 }
00412 }
00413 return backwardCompatibilityMap_;
00414 }
00415
00416 std::string Parameters::getType(const std::string & paramKey)
00417 {
00418 std::string type;
00419 ParametersMap::iterator iter = parametersType_.find(paramKey);
00420 if(iter != parametersType_.end())
00421 {
00422 type = iter->second;
00423 }
00424 else
00425 {
00426 UERROR("Parameters \"%s\" doesn't exist!", paramKey.c_str());
00427 }
00428 return type;
00429 }
00430
00431 std::string Parameters::getDescription(const std::string & paramKey)
00432 {
00433 std::string description;
00434 ParametersMap::iterator iter = descriptions_.find(paramKey);
00435 if(iter != descriptions_.end())
00436 {
00437 description = iter->second;
00438 }
00439 else
00440 {
00441 UERROR("Parameters \"%s\" doesn't exist!", paramKey.c_str());
00442 }
00443 return description;
00444 }
00445
00446 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, bool & value)
00447 {
00448 ParametersMap::const_iterator iter = parameters.find(key);
00449 if(iter != parameters.end())
00450 {
00451 value = uStr2Bool(iter->second.c_str());
00452 return true;
00453 }
00454 return false;
00455 }
00456 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, int & value)
00457 {
00458 ParametersMap::const_iterator iter = parameters.find(key);
00459 if(iter != parameters.end())
00460 {
00461 value = uStr2Int(iter->second.c_str());
00462 return true;
00463 }
00464 return false;
00465 }
00466 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, unsigned int & value)
00467 {
00468 ParametersMap::const_iterator iter = parameters.find(key);
00469 if(iter != parameters.end())
00470 {
00471 value = uStr2Int(iter->second.c_str());
00472 return true;
00473 }
00474 return false;
00475 }
00476 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, float & value)
00477 {
00478 ParametersMap::const_iterator iter = parameters.find(key);
00479 if(iter != parameters.end())
00480 {
00481 value = uStr2Float(iter->second);
00482 return true;
00483 }
00484 return false;
00485 }
00486 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, double & value)
00487 {
00488 ParametersMap::const_iterator iter = parameters.find(key);
00489 if(iter != parameters.end())
00490 {
00491 value = uStr2Double(iter->second);
00492 return true;
00493 }
00494 return false;
00495 }
00496 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, std::string & value)
00497 {
00498 ParametersMap::const_iterator iter = parameters.find(key);
00499 if(iter != parameters.end())
00500 {
00501 value = iter->second;
00502 return true;
00503 }
00504 return false;
00505 }
00506 void Parameters::parse(const ParametersMap & parameters, ParametersMap & parametersOut)
00507 {
00508 for(ParametersMap::iterator iter=parametersOut.begin(); iter!=parametersOut.end(); ++iter)
00509 {
00510 ParametersMap::const_iterator jter = parameters.find(iter->first);
00511 if(jter != parameters.end())
00512 {
00513 iter->second = jter->second;
00514 }
00515 }
00516 }
00517
00518 const char * Parameters::showUsage()
00519 {
00520 return "RTAB-Map options:\n"
00521 " --help Show usage.\n"
00522 " --version Show version of rtabmap and its dependencies.\n"
00523 " --params Show all parameters with their default value and description\n"
00524 " --\"parameter name\" \"value\" Overwrite a specific RTAB-Map's parameter :\n"
00525 " --SURF/HessianThreshold 150\n"
00526 " For parameters in table format, add ',' between values :\n"
00527 " --Kp/RoiRatios 0,0,0.1,0\n"
00528 "Logger options:\n"
00529 " --nolog Disable logger\n"
00530 " --logconsole Set logger console type\n"
00531 " --logfile \"path\" Set logger file type\n"
00532 " --logfilea \"path\" Set logger file type with appending mode if the file already exists\n"
00533 " --udebug Set logger level to debug\n"
00534 " --uinfo Set logger level to info\n"
00535 " --uwarn Set logger level to warn\n"
00536 " --uerror Set logger level to error\n"
00537 " --logtime \"bool\" Print time when logging\n"
00538 " --logwhere \"bool\" Print where when logging\n"
00539 " --logthread \"bool\" Print thread id when logging\n"
00540 ;
00541 }
00542
00543 ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParameters)
00544 {
00545 ParametersMap out;
00546 const ParametersMap & parameters = getDefaultParameters();
00547 const std::map<std::string, std::pair<bool, std::string> > & removedParams = getRemovedParameters();
00548 for(int i=0;i<argc;++i)
00549 {
00550 bool checkParameters = onlyParameters;
00551 if(!checkParameters)
00552 {
00553 if(strcmp(argv[i], "--help") == 0)
00554 {
00555 std::cout << showUsage() << std::endl;
00556 exit(0);
00557 }
00558 else if(strcmp(argv[i], "--version") == 0)
00559 {
00560 std::string str = "RTAB-Map:";
00561
00562 int spacing = 30;
00563 std::cout << str << std::setw(spacing - str.size()) << RTABMAP_VERSION << std::endl;
00564 str = "OpenCV:";
00565 #ifdef RTABMAP_OPENCV3
00566 std::cout << str << std::setw(spacing - str.size()) << "3" << std::endl;
00567 #else
00568 std::cout << str << std::setw(spacing - str.size()) << "2" << std::endl;
00569 #endif
00570 str = "With OpenCV nonfree:";
00571 #ifdef RTABMAP_NONFREE
00572 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00573 #else
00574 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00575 #endif
00576 str = "With TORO:";
00577 #ifdef RTABMAP_TORO
00578 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00579 #else
00580 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00581 #endif
00582 str = "With g2o:";
00583 #ifdef RTABMAP_G2O
00584 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00585 #else
00586 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00587 #endif
00588 str = "With GTSAM:";
00589 #ifdef RTABMAP_GTSAM
00590 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00591 #else
00592 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00593 #endif
00594 str = "With Vertigo:";
00595 #ifdef RTABMAP_VERTIGO
00596 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00597 #else
00598 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00599 #endif
00600 str = "With CVSBA:";
00601 #ifdef RTABMAP_CVSBA
00602 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00603 #else
00604 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00605 #endif
00606 str = "With OpenNI2:";
00607 #ifdef RTABMAP_OPENNI2
00608 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00609 #else
00610 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00611 #endif
00612 str = "With Freenect:";
00613 #ifdef RTABMAP_FREENECT
00614 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00615 #else
00616 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00617 #endif
00618 str = "With Freenect2:";
00619 #ifdef RTABMAP_FREENECT2
00620 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00621 #else
00622 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00623 #endif
00624 str = "With K4W2:";
00625 #ifdef RTABMAP_K4W2
00626 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00627 #else
00628 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00629 #endif
00630 str = "With DC1394:";
00631 #ifdef RTABMAP_DC1394
00632 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00633 #else
00634 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00635 #endif
00636 str = "With FlyCapture2:";
00637 #ifdef RTABMAP_FLYCAPTURE2
00638 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00639 #else
00640 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00641 #endif
00642 str = "With ZED:";
00643 #ifdef RTABMAP_ZED
00644 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00645 #else
00646 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00647 #endif
00648 str = "With RealSense:";
00649 #ifdef RTABMAP_REALSENSE
00650 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00651 #else
00652 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00653 #endif
00654 str = "With RealSense SLAM:";
00655 #ifdef RTABMAP_REALSENSE_SLAM
00656 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00657 #else
00658 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00659 #endif
00660 str = "With RealSense2:";
00661 #ifdef RTABMAP_REALSENSE2
00662 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00663 #else
00664 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00665 #endif
00666 str = "With libpointmatcher:";
00667 #ifdef RTABMAP_POINTMATCHER
00668 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00669 #else
00670 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00671 #endif
00672 str = "With octomap:";
00673 #ifdef RTABMAP_OCTOMAP
00674 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00675 #else
00676 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00677 #endif
00678 str = "With cpu-tsdf:";
00679 #ifdef RTABMAP_CPUTSDF
00680 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00681 #else
00682 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00683 #endif
00684 str = "With open chisel:";
00685 #ifdef RTABMAP_OPENCHISEL
00686 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00687 #else
00688 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00689 #endif
00690 str = "With LOAM:";
00691 #ifdef RTABMAP_LOAM
00692 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00693 #else
00694 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00695 #endif
00696 str = "With FOVIS:";
00697 #ifdef RTABMAP_FOVIS
00698 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00699 #else
00700 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00701 #endif
00702 str = "With Viso2:";
00703 #ifdef RTABMAP_VISO2
00704 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00705 #else
00706 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00707 #endif
00708 str = "With DVO:";
00709 #ifdef RTABMAP_DVO
00710 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00711 #else
00712 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00713 #endif
00714 str = "With ORB_SLAM2:";
00715 #ifdef RTABMAP_ORB_SLAM2
00716 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00717 #else
00718 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00719 #endif
00720 str = "With OKVIS:";
00721 #ifdef RTABMAP_OKVIS
00722 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00723 #else
00724 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00725 #endif
00726 str = "With MSCKF_VIO:";
00727 #ifdef RTABMAP_MSCKF_VIO
00728 std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
00729 #else
00730 std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
00731 #endif
00732 exit(0);
00733 }
00734 else if(strcmp(argv[i], "--nolog") == 0)
00735 {
00736 ULogger::setType(ULogger::kTypeNoLog);
00737 }
00738 else if(strcmp(argv[i], "--logconsole") == 0)
00739 {
00740 ULogger::setType(ULogger::kTypeConsole);
00741 }
00742 else if(strcmp(argv[i], "--logfile") == 0)
00743 {
00744 ++i;
00745 if(i < argc)
00746 {
00747 ULogger::setType(ULogger::kTypeFile, argv[i], false);
00748 }
00749 else
00750 {
00751 UERROR("\"--logfile\" argument requires following file path");
00752 }
00753 }
00754 else if(strcmp(argv[i], "--logfilea") == 0)
00755 {
00756 ++i;
00757 if(i < argc)
00758 {
00759 ULogger::setType(ULogger::kTypeFile, argv[i], true);
00760 }
00761 else
00762 {
00763 UERROR("\"--logfilea\" argument requires following file path");
00764 }
00765 }
00766 else if(strcmp(argv[i], "--udebug") == 0)
00767 {
00768 ULogger::setLevel(ULogger::kDebug);
00769 }
00770 else if(strcmp(argv[i], "--uinfo") == 0)
00771 {
00772 ULogger::setLevel(ULogger::kInfo);
00773 }
00774 else if(strcmp(argv[i], "--uwarn") == 0)
00775 {
00776 ULogger::setLevel(ULogger::kWarning);
00777 }
00778 else if(strcmp(argv[i], "--uerror") == 0)
00779 {
00780 ULogger::setLevel(ULogger::kError);
00781 }
00782 else if(strcmp(argv[i], "--ulogtime") == 0)
00783 {
00784 ++i;
00785 if(i < argc)
00786 {
00787 ULogger::setPrintTime(uStr2Bool(argv[i]));
00788 }
00789 else
00790 {
00791 UERROR("\"--ulogtime\" argument requires a following boolean value");
00792 }
00793 }
00794 else if(strcmp(argv[i], "--ulogwhere") == 0)
00795 {
00796 ++i;
00797 if(i < argc)
00798 {
00799 ULogger::setPrintWhere(uStr2Bool(argv[i]));
00800 }
00801 else
00802 {
00803 UERROR("\"--ulogwhere\" argument requires a following boolean value");
00804 }
00805 }
00806 else if(strcmp(argv[i], "--ulogthread") == 0)
00807 {
00808 ++i;
00809 if(i < argc)
00810 {
00811 ULogger::setPrintThreadId(uStr2Bool(argv[i]));
00812 }
00813 else
00814 {
00815 UERROR("\"--ulogthread\" argument requires a following boolean value");
00816 }
00817 }
00818 else
00819 {
00820 checkParameters = true;
00821 }
00822 }
00823
00824 if(checkParameters)
00825 {
00826 if(strcmp(argv[i], "--params") == 0)
00827 {
00828 for(rtabmap::ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
00829 {
00830 bool ignore = false;
00831 UASSERT(uSplit(iter->first, '/').size() == 2);
00832 std::string group = uSplit(iter->first, '/').front();
00833 #ifndef RTABMAP_GTSAM
00834 if(group.compare("GTSAM") == 0)
00835 {
00836 ignore = true;
00837 }
00838 #endif
00839 #ifndef RTABMAP_G2O
00840 if(group.compare("g2o") == 0)
00841 {
00842 ignore = true;
00843 }
00844 #endif
00845 #ifndef RTABMAP_FOVIS
00846 if(group.compare("OdomFovis") == 0)
00847 {
00848 ignore = true;
00849 }
00850 #endif
00851 #ifndef RTABMAP_VISO2
00852 if(group.compare("OdomViso2") == 0)
00853 {
00854 ignore = true;
00855 }
00856 #endif
00857 #ifndef RTABMAP_ORBSLAM2
00858 if(group.compare("OdomORBSLAM2") == 0)
00859 {
00860 ignore = true;
00861 }
00862 #endif
00863 #ifndef RTABMAP_OKVIS
00864 if(group.compare("OdomOKVIS") == 0)
00865 {
00866 ignore = true;
00867 }
00868 #endif
00869 #ifndef RTABMAP_LOAM
00870 if(group.compare("OdomLOAM") == 0)
00871 {
00872 ignore = true;
00873 }
00874 #endif
00875 #ifndef RTABMAP_MSCKF_VIO
00876 if(group.compare("OdomMSCKF") == 0)
00877 {
00878 ignore = true;
00879 }
00880 #endif
00881 if(!ignore)
00882 {
00883 std::string str = "Param: " + iter->first + " = \"" + iter->second + "\"";
00884 std::cout <<
00885 str <<
00886 std::setw(60 - str.size()) <<
00887 " [" <<
00888 rtabmap::Parameters::getDescription(iter->first).c_str() <<
00889 "]" <<
00890 std::endl;
00891 }
00892 }
00893 UWARN("App will now exit after showing default RTAB-Map parameters because "
00894 "argument \"--params\" is detected!");
00895 exit(0);
00896 }
00897 else
00898 {
00899 std::string key = uReplaceChar(argv[i], '-', "");
00900 ParametersMap::const_iterator iter = parameters.find(key);
00901 if(iter != parameters.end())
00902 {
00903 ++i;
00904 if(i < argc)
00905 {
00906 uInsert(out, ParametersPair(iter->first, argv[i]));
00907 UINFO("Parsed parameter \"%s\"=\"%s\"", iter->first.c_str(), argv[i]);
00908 }
00909 }
00910 else
00911 {
00912
00913 std::map<std::string, std::pair<bool, std::string> >::const_iterator jter = removedParams.find(key);
00914 if(jter!=removedParams.end())
00915 {
00916 if(jter->second.first)
00917 {
00918 ++i;
00919 if(i < argc)
00920 {
00921 std::string value = argv[i];
00922 if(!value.empty())
00923 {
00924 value = uReplaceChar(value, ',', ' ');
00925 key = jter->second.second;
00926 UWARN("Parameter migration from \"%s\" to \"%s\" (value=%s).",
00927 jter->first.c_str(), jter->second.second.c_str(), value.c_str());
00928 uInsert(out, ParametersPair(key, value));
00929 }
00930 }
00931 else
00932 {
00933 UERROR("Value missing for argument \"%s\"", argv[i-1]);
00934 }
00935 }
00936 else if(jter->second.second.empty())
00937 {
00938 UERROR("Parameter \"%s\" doesn't exist anymore.", jter->first.c_str());
00939 }
00940 else
00941 {
00942 UERROR("Parameter \"%s\" doesn't exist anymore, check this similar parameter \"%s\".", jter->first.c_str(), jter->second.second.c_str());
00943 }
00944 }
00945 }
00946 }
00947 }
00948 }
00949 return out;
00950 }
00951
00952
00953 void Parameters::readINI(const std::string & configFile, ParametersMap & parameters, bool modifiedOnly)
00954 {
00955 CSimpleIniA ini;
00956 ini.LoadFile(configFile.c_str());
00957 const CSimpleIniA::TKeyVal * keyValMap = ini.GetSection("Core");
00958 if(keyValMap)
00959 {
00960 for(CSimpleIniA::TKeyVal::const_iterator iter=keyValMap->begin(); iter!=keyValMap->end(); ++iter)
00961 {
00962 std::string key = (*iter).first.pItem;
00963 if(key.compare("Version") == 0)
00964 {
00965
00966 std::vector<std::string> version = uListToVector(uSplit((*iter).second, '.'));
00967 if(version.size() == 3)
00968 {
00969 if(!RTABMAP_VERSION_COMPARE(std::atoi(version[0].c_str()), std::atoi(version[1].c_str()), std::atoi(version[2].c_str())))
00970 {
00971 if(configFile.find(".rtabmap") != std::string::npos)
00972 {
00973 UWARN("Version in the config file \"%s\" is more recent (\"%s\") than "
00974 "current RTAB-Map version used (\"%s\"). The config file will be upgraded "
00975 "to new version.",
00976 configFile.c_str(),
00977 (*iter).second,
00978 RTABMAP_VERSION);
00979 }
00980 else
00981 {
00982 UERROR("Version in the config file \"%s\" is more recent (\"%s\") than "
00983 "current RTAB-Map version used (\"%s\"). New parameters (if there are some) will "
00984 "be ignored.",
00985 configFile.c_str(),
00986 (*iter).second,
00987 RTABMAP_VERSION);
00988 }
00989 }
00990 }
00991 }
00992 else
00993 {
00994 key = uReplaceChar(key, '\\', '/');
00995
00996
00997 std::map<std::string, std::pair<bool, std::string> >::const_iterator oldIter = Parameters::getRemovedParameters().find(key);
00998 if(oldIter!=Parameters::getRemovedParameters().end())
00999 {
01000 if(oldIter->second.first)
01001 {
01002 if(parameters.find(oldIter->second.second) == parameters.end())
01003 {
01004 key = oldIter->second.second;
01005 UINFO("Parameter migration from \"%s\" to \"%s\" (value=%s, default=%s).",
01006 oldIter->first.c_str(), oldIter->second.second.c_str(), iter->second, Parameters::getDefaultParameters().at(oldIter->second.second).c_str());
01007 }
01008 }
01009 else if(oldIter->second.second.empty())
01010 {
01011 UWARN("Parameter \"%s\" doesn't exist anymore.",
01012 oldIter->first.c_str());
01013 }
01014 else if(parameters.find(oldIter->second.second) == parameters.end())
01015 {
01016 UWARN("Parameter \"%s\" (value=%s) doesn't exist anymore, you may want to use this similar parameter \"%s (default=%s): %s\".",
01017 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());
01018 }
01019
01020 }
01021
01022 if(Parameters::getDefaultParameters().find(key) != Parameters::getDefaultParameters().end())
01023 {
01024 if(!modifiedOnly || std::string(iter->second).compare(Parameters::getDefaultParameters().find(key)->second) != 0)
01025 {
01026 uInsert(parameters, ParametersPair(key, iter->second));
01027 }
01028 }
01029 }
01030 }
01031 }
01032 else
01033 {
01034 ULOGGER_WARN("Section \"Core\" in %s doesn't exist... "
01035 "Ignore this warning if the ini file does not exist yet. "
01036 "The ini file will be automatically created when rtabmap will close.", configFile.c_str());
01037 }
01038 }
01039
01040 void Parameters::writeINI(const std::string & configFile, const ParametersMap & parameters)
01041 {
01042 CSimpleIniA ini;
01043 ini.LoadFile(configFile.c_str());
01044
01045
01046 ini.SetValue("Core", "Version", RTABMAP_VERSION, NULL, true);
01047
01048 for(ParametersMap::const_iterator i=parameters.begin(); i!=parameters.end(); ++i)
01049 {
01050 std::string key = (*i).first;
01051 key = uReplaceChar(key, '/', '\\');
01052
01053 std::string value = (*i).second.c_str();
01054 value = uReplaceChar(value, '\\', '/');
01055
01056 ini.SetValue("Core", key.c_str(), value.c_str(), NULL, true);
01057 }
01058
01059 ini.SaveFile(configFile.c_str());
01060 }
01061
01062 }