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 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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27 
28 #include "rtabmap/core/Parameters.h"
29 #include <rtabmap/utilite/UDirectory.h>
30 #include <rtabmap/utilite/ULogger.h>
31 #include <rtabmap/utilite/UConversion.h>
32 #include <rtabmap/utilite/UStl.h>
33 #include <cmath>
34 #include <stdlib.h>
35 #include <sstream>
36 #include <iostream>
37 #include <iomanip>
38 #include "SimpleIni.h"
39 
40 namespace rtabmap
41 {
42 
43 ParametersMap Parameters::parameters_;
44 ParametersMap Parameters::parametersType_;
45 ParametersMap Parameters::descriptions_;
46 Parameters Parameters::instance_;
47 std::map<std::string, std::pair<bool, std::string> > Parameters::removedParameters_;
48 ParametersMap Parameters::backwardCompatibilityMap_;
49 
50 Parameters::Parameters()
51 {
52 }
53 
54 Parameters::~Parameters()
55 {
56 }
57 
58 std::string Parameters::createDefaultWorkingDirectory()
59 {
60  std::string path = UDirectory::homeDir();
61  if(!path.empty())
62  {
63  UDirectory::makeDir(path += UDirectory::separator() + "Documents");
64  UDirectory::makeDir(path += UDirectory::separator() + "RTAB-Map");
65 
66  }
67  else
68  {
69  UFATAL("Can't get the HOME variable environment!");
70  }
71  return path;
72 }
73 
74 std::string Parameters::getVersion()
75 {
76  return RTABMAP_VERSION;
77  return ""; // Second return only to avoid compiler warning with RTABMAP_VERSION not yet set.
78 }
79 
80 std::string Parameters::getDefaultDatabaseName()
81 {
82  return "rtabmap.db";
83 }
84 
85 std::string Parameters::serialize(const ParametersMap & parameters)
86 {
87  std::stringstream output;
88  for(ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
89  {
90  if(iter != parameters.begin())
91  {
92  output << ";";
93  }
94  // make sure there are no commas instead of dots
95  output << iter->first << ":" << uReplaceChar(iter->second, ',', '.');
96  }
97  UDEBUG("output=%s", output.str().c_str());
98  return output.str();
99 }
100 
101 ParametersMap Parameters::deserialize(const std::string & parameters)
102 {
103  UDEBUG("parameters=%s", parameters.c_str());
104  ParametersMap output;
105  std::list<std::string> tuplets = uSplit(parameters, ';');
106  for(std::list<std::string>::iterator iter=tuplets.begin(); iter!=tuplets.end(); ++iter)
107  {
108  std::list<std::string> p = uSplit(*iter, ':');
109  if(p.size() == 2)
110  {
111  std::string key = p.front();
112  std::string value = p.back();
113 
114  // look for old parameter name
115  bool addParameter = true;
116  std::map<std::string, std::pair<bool, std::string> >::const_iterator oldIter = Parameters::getRemovedParameters().find(key);
117  if(oldIter!=Parameters::getRemovedParameters().end())
118  {
119  addParameter = oldIter->second.first;
120  if(addParameter)
121  {
122  key = oldIter->second.second;
123  UWARN("Parameter migration from \"%s\" to \"%s\" (value=%s).",
124  oldIter->first.c_str(), oldIter->second.second.c_str(), value.c_str());
125  }
126  else if(oldIter->second.second.empty())
127  {
128  UWARN("Parameter \"%s\" doesn't exist anymore.",
129  oldIter->first.c_str());
130  }
131  else
132  {
133  UWARN("Parameter \"%s\" doesn't exist anymore, you may want to use this similar parameter \"%s\":\"%s\".",
134  oldIter->first.c_str(), oldIter->second.second.c_str(), Parameters::getDescription(oldIter->second.second).c_str());
135  }
136 
137  }
138 
139  if(oldIter==Parameters::getRemovedParameters().end() &&
140  Parameters::getDefaultParameters().find(key) == Parameters::getDefaultParameters().end())
141  {
142  UWARN("Unknown parameter \"%s\"=\"%s\"! The parameter is still added to output map.", key.c_str(), value.c_str());
143  }
144  uInsert(output, ParametersPair(key, value));
145  }
146  }
147  return output;
148 }
149 
150 bool Parameters::isFeatureParameter(const std::string & parameter)
151 {
152  std::string group = uSplit(parameter, '/').front();
153  return group.compare("SURF") == 0 ||
154  group.compare("SIFT") == 0 ||
155  group.compare("ORB") == 0 ||
156  group.compare("FAST") == 0 ||
157  group.compare("FREAK") == 0 ||
158  group.compare("BRIEF") == 0 ||
159  group.compare("GFTT") == 0 ||
160  group.compare("BRISK") == 0 ||
161  group.compare("KAZE") == 0;
162 }
163 
164 rtabmap::ParametersMap Parameters::getDefaultOdometryParameters(bool stereo, bool vis, bool icp)
165 {
166  rtabmap::ParametersMap odomParameters;
167  rtabmap::ParametersMap defaultParameters = rtabmap::Parameters::getDefaultParameters();
168  for(rtabmap::ParametersMap::iterator iter=defaultParameters.begin(); iter!=defaultParameters.end(); ++iter)
169  {
170  std::string group = uSplit(iter->first, '/').front();
171  if(uStrContains(group, "Odom") ||
172  (stereo && group.compare("Stereo") == 0) ||
173  (icp && group.compare("Icp") == 0) ||
174  (vis && Parameters::isFeatureParameter(iter->first)) ||
175  group.compare("Reg") == 0 ||
176  (vis && group.compare("Vis") == 0) ||
177  iter->first.compare(kRtabmapPublishRAMUsage())==0)
178  {
179  if(stereo)
180  {
181  if(iter->first.compare(Parameters::kVisEstimationType()) == 0)
182  {
183  iter->second = "1"; // 3D->2D (PNP)
184  }
185  }
186  odomParameters.insert(*iter);
187  }
188  }
189  return odomParameters;
190 }
191 
192 ParametersMap Parameters::getDefaultParameters(const std::string & groupIn)
193 {
194  rtabmap::ParametersMap parameters;
195  const rtabmap::ParametersMap & defaultParameters = rtabmap::Parameters::getDefaultParameters();
196  for(rtabmap::ParametersMap::const_iterator iter=defaultParameters.begin(); iter!=defaultParameters.end(); ++iter)
197  {
198  UASSERT(uSplit(iter->first, '/').size() == 2);
199  std::string group = uSplit(iter->first, '/').front();
200  if(group.compare(groupIn) == 0)
201  {
202  parameters.insert(*iter);
203  }
204  }
205  UASSERT_MSG(parameters.size(), uFormat("No parameters found for group %s!", groupIn.c_str()).c_str());
206  return parameters;
207 }
208 
209 ParametersMap Parameters::filterParameters(const ParametersMap & parameters, const std::string & groupIn)
210 {
211  ParametersMap output;
212  for(rtabmap::ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
213  {
214  UASSERT(uSplit(iter->first, '/').size() == 2);
215  std::string group = uSplit(iter->first, '/').front();
216  if(group.compare(groupIn) == 0)
217  {
218  output.insert(*iter);
219  }
220  }
221  return output;
222 }
223 
224 const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemovedParameters()
225 {
226  if(removedParameters_.empty())
227  {
228  // removed parameters
229 
230  // 0.17.5
231  removedParameters_.insert(std::make_pair("Grid/OctoMapOccupancyThr", std::make_pair(true, Parameters::kGridGlobalOccupancyThr())));
232 
233  // 0.17.0
234  removedParameters_.insert(std::make_pair("Grid/Scan2dMaxFilledRange", std::make_pair(false, Parameters::kGridRangeMax())));
235 
236  // 0.16.0
237  removedParameters_.insert(std::make_pair("Grid/ProjRayTracing", std::make_pair(true, Parameters::kGridRayTracing())));
238  removedParameters_.insert(std::make_pair("Grid/DepthMin", std::make_pair(true, Parameters::kGridRangeMin())));
239  removedParameters_.insert(std::make_pair("Grid/DepthMax", std::make_pair(true, Parameters::kGridRangeMax())));
240 
241  // 0.15.1
242  removedParameters_.insert(std::make_pair("Reg/VarianceFromInliersCount", std::make_pair(false, "")));
243  removedParameters_.insert(std::make_pair("Reg/VarianceNormalized", std::make_pair(false, "")));
244 
245  // 0.13.3
246  removedParameters_.insert(std::make_pair("Icp/PointToPlaneNormalNeighbors", std::make_pair(true, Parameters::kIcpPointToPlaneK())));
247 
248 
249  // 0.13.1
250  removedParameters_.insert(std::make_pair("Rtabmap/VhStrategy", std::make_pair(true, Parameters::kVhEpEnabled())));
251 
252  // 0.12.5
253  removedParameters_.insert(std::make_pair("Grid/FullUpdate", std::make_pair(true, Parameters::kGridGlobalFullUpdate())));
254 
255  // 0.12.1
256  removedParameters_.insert(std::make_pair("Grid/3DGroundIsObstacle", std::make_pair(true, Parameters::kGridGroundIsObstacle())));
257 
258  // 0.11.12
259  removedParameters_.insert(std::make_pair("Optimizer/Slam2D", std::make_pair(true, Parameters::kRegForce3DoF())));
260  removedParameters_.insert(std::make_pair("OdomF2M/FixedMapPath", std::make_pair(false, "")));
261 
262  // 0.11.10 typos
263  removedParameters_.insert(std::make_pair("Grid/FlatObstaclesDetected", std::make_pair(true, Parameters::kGridFlatObstacleDetected())));
264 
265  // 0.11.8
266  removedParameters_.insert(std::make_pair("Reg/Force2D", std::make_pair(true, Parameters::kRegForce3DoF())));
267  removedParameters_.insert(std::make_pair("OdomF2M/ScanSubstractRadius", std::make_pair(true, Parameters::kOdomF2MScanSubtractRadius())));
268 
269  // 0.11.6
270  removedParameters_.insert(std::make_pair("RGBD/ProximityPathScansMerged", std::make_pair(false, "")));
271 
272  // 0.11.3
273  removedParameters_.insert(std::make_pair("Mem/ImageDecimation", std::make_pair(true, Parameters::kMemImagePostDecimation())));
274 
275  // 0.11.2
276  removedParameters_.insert(std::make_pair("OdomLocalMap/HistorySize", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
277  removedParameters_.insert(std::make_pair("OdomLocalMap/FixedMapPath", std::make_pair(false, "")));
278  removedParameters_.insert(std::make_pair("OdomF2F/GuessMotion", std::make_pair(true, Parameters::kOdomGuessMotion())));
279  removedParameters_.insert(std::make_pair("OdomF2F/KeyFrameThr", std::make_pair(false, Parameters::kOdomKeyFrameThr())));
280 
281  // 0.11.0
282  removedParameters_.insert(std::make_pair("OdomBow/LocalHistorySize", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
283  removedParameters_.insert(std::make_pair("OdomBow/FixedLocalMapPath", std::make_pair(false, "")));
284  removedParameters_.insert(std::make_pair("OdomFlow/KeyFrameThr", std::make_pair(false, Parameters::kOdomKeyFrameThr())));
285  removedParameters_.insert(std::make_pair("OdomFlow/GuessMotion", std::make_pair(true, Parameters::kOdomGuessMotion())));
286 
287  removedParameters_.insert(std::make_pair("Kp/WordsPerImage", std::make_pair(true, Parameters::kKpMaxFeatures())));
288 
289  removedParameters_.insert(std::make_pair("Mem/LocalSpaceLinksKeptInWM", std::make_pair(false, "")));
290 
291  removedParameters_.insert(std::make_pair("RGBD/PoseScanMatching", std::make_pair(true, Parameters::kRGBDNeighborLinkRefining())));
292 
293  removedParameters_.insert(std::make_pair("Odom/ParticleFiltering", std::make_pair(false, Parameters::kOdomFilteringStrategy())));
294  removedParameters_.insert(std::make_pair("Odom/FeatureType", std::make_pair(true, Parameters::kVisFeatureType())));
295  removedParameters_.insert(std::make_pair("Odom/EstimationType", std::make_pair(true, Parameters::kVisEstimationType())));
296  removedParameters_.insert(std::make_pair("Odom/MaxFeatures", std::make_pair(true, Parameters::kVisMaxFeatures())));
297  removedParameters_.insert(std::make_pair("Odom/InlierDistance", std::make_pair(true, Parameters::kVisInlierDistance())));
298  removedParameters_.insert(std::make_pair("Odom/MinInliers", std::make_pair(true, Parameters::kVisMinInliers())));
299  removedParameters_.insert(std::make_pair("Odom/Iterations", std::make_pair(true, Parameters::kVisIterations())));
300  removedParameters_.insert(std::make_pair("Odom/RefineIterations", std::make_pair(true, Parameters::kVisRefineIterations())));
301  removedParameters_.insert(std::make_pair("Odom/MaxDepth", std::make_pair(true, Parameters::kVisMaxDepth())));
302  removedParameters_.insert(std::make_pair("Odom/RoiRatios", std::make_pair(true, Parameters::kVisRoiRatios())));
303  removedParameters_.insert(std::make_pair("Odom/Force2D", std::make_pair(true, Parameters::kRegForce3DoF())));
304  removedParameters_.insert(std::make_pair("Odom/VarianceFromInliersCount", std::make_pair(false, "")));
305  removedParameters_.insert(std::make_pair("Odom/PnPReprojError", std::make_pair(true, Parameters::kVisPnPReprojError())));
306  removedParameters_.insert(std::make_pair("Odom/PnPFlags", std::make_pair(true, Parameters::kVisPnPFlags())));
307 
308  removedParameters_.insert(std::make_pair("OdomBow/NNType", std::make_pair(true, Parameters::kVisCorNNType())));
309  removedParameters_.insert(std::make_pair("OdomBow/NNDR", std::make_pair(true, Parameters::kVisCorNNDR())));
310 
311  removedParameters_.insert(std::make_pair("OdomFlow/WinSize", std::make_pair(true, Parameters::kVisCorFlowWinSize())));
312  removedParameters_.insert(std::make_pair("OdomFlow/Iterations", std::make_pair(true, Parameters::kVisCorFlowIterations())));
313  removedParameters_.insert(std::make_pair("OdomFlow/Eps", std::make_pair(true, Parameters::kVisCorFlowEps())));
314  removedParameters_.insert(std::make_pair("OdomFlow/MaxLevel", std::make_pair(true, Parameters::kVisCorFlowMaxLevel())));
315 
316  removedParameters_.insert(std::make_pair("OdomSubPix/WinSize", std::make_pair(true, Parameters::kVisSubPixWinSize())));
317  removedParameters_.insert(std::make_pair("OdomSubPix/Iterations", std::make_pair(true, Parameters::kVisSubPixIterations())));
318  removedParameters_.insert(std::make_pair("OdomSubPix/Eps", std::make_pair(true, Parameters::kVisSubPixEps())));
319 
320  removedParameters_.insert(std::make_pair("LccReextract/Activated", std::make_pair(true, Parameters::kRGBDLoopClosureReextractFeatures())));
321  removedParameters_.insert(std::make_pair("LccReextract/FeatureType", std::make_pair(false, Parameters::kVisFeatureType())));
322  removedParameters_.insert(std::make_pair("LccReextract/MaxWords", std::make_pair(false, Parameters::kVisMaxFeatures())));
323  removedParameters_.insert(std::make_pair("LccReextract/MaxDepth", std::make_pair(false, Parameters::kVisMaxDepth())));
324  removedParameters_.insert(std::make_pair("LccReextract/RoiRatios", std::make_pair(false, Parameters::kVisRoiRatios())));
325  removedParameters_.insert(std::make_pair("LccReextract/NNType", std::make_pair(false, Parameters::kVisCorNNType())));
326  removedParameters_.insert(std::make_pair("LccReextract/NNDR", std::make_pair(false, Parameters::kVisCorNNDR())));
327 
328  removedParameters_.insert(std::make_pair("LccBow/EstimationType", std::make_pair(false, Parameters::kVisEstimationType())));
329  removedParameters_.insert(std::make_pair("LccBow/InlierDistance", std::make_pair(false, Parameters::kVisInlierDistance())));
330  removedParameters_.insert(std::make_pair("LccBow/MinInliers", std::make_pair(false, Parameters::kVisMinInliers())));
331  removedParameters_.insert(std::make_pair("LccBow/Iterations", std::make_pair(false, Parameters::kVisIterations())));
332  removedParameters_.insert(std::make_pair("LccBow/RefineIterations", std::make_pair(false, Parameters::kVisRefineIterations())));
333  removedParameters_.insert(std::make_pair("LccBow/Force2D", std::make_pair(false, Parameters::kRegForce3DoF())));
334  removedParameters_.insert(std::make_pair("LccBow/VarianceFromInliersCount", std::make_pair(false, "")));
335  removedParameters_.insert(std::make_pair("LccBow/PnPReprojError", std::make_pair(false, Parameters::kVisPnPReprojError())));
336  removedParameters_.insert(std::make_pair("LccBow/PnPFlags", std::make_pair(false, Parameters::kVisPnPFlags())));
337  removedParameters_.insert(std::make_pair("LccBow/EpipolarGeometryVar", std::make_pair(true, Parameters::kVisEpipolarGeometryVar())));
338 
339  removedParameters_.insert(std::make_pair("LccIcp/Type", std::make_pair(false, Parameters::kRegStrategy())));
340 
341  removedParameters_.insert(std::make_pair("LccIcp3/Decimation", std::make_pair(false, "")));
342  removedParameters_.insert(std::make_pair("LccIcp3/MaxDepth", std::make_pair(false, "")));
343  removedParameters_.insert(std::make_pair("LccIcp3/VoxelSize", std::make_pair(false, Parameters::kIcpVoxelSize())));
344  removedParameters_.insert(std::make_pair("LccIcp3/Samples", std::make_pair(false, Parameters::kIcpDownsamplingStep())));
345  removedParameters_.insert(std::make_pair("LccIcp3/MaxCorrespondenceDistance", std::make_pair(false, Parameters::kIcpMaxCorrespondenceDistance())));
346  removedParameters_.insert(std::make_pair("LccIcp3/Iterations", std::make_pair(false, Parameters::kIcpIterations())));
347  removedParameters_.insert(std::make_pair("LccIcp3/CorrespondenceRatio", std::make_pair(false, Parameters::kIcpCorrespondenceRatio())));
348  removedParameters_.insert(std::make_pair("LccIcp3/PointToPlane", std::make_pair(true, Parameters::kIcpPointToPlane())));
349  removedParameters_.insert(std::make_pair("LccIcp3/PointToPlaneNormalNeighbors", std::make_pair(true, Parameters::kIcpPointToPlaneK())));
350 
351  removedParameters_.insert(std::make_pair("LccIcp2/MaxCorrespondenceDistance", std::make_pair(true, Parameters::kIcpMaxCorrespondenceDistance())));
352  removedParameters_.insert(std::make_pair("LccIcp2/Iterations", std::make_pair(true, Parameters::kIcpIterations())));
353  removedParameters_.insert(std::make_pair("LccIcp2/CorrespondenceRatio", std::make_pair(true, Parameters::kIcpCorrespondenceRatio())));
354  removedParameters_.insert(std::make_pair("LccIcp2/VoxelSize", std::make_pair(true, Parameters::kIcpVoxelSize())));
355 
356  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionByTime", std::make_pair(true, Parameters::kRGBDProximityByTime())));
357  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionBySpace", std::make_pair(true, Parameters::kRGBDProximityBySpace())));
358  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionTime", std::make_pair(true, Parameters::kRGBDProximityByTime())));
359  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionSpace", std::make_pair(true, Parameters::kRGBDProximityBySpace())));
360  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathScansMerged", std::make_pair(false, "")));
361  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxGraphDepth", std::make_pair(true, Parameters::kRGBDProximityMaxGraphDepth())));
362  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathFilteringRadius", std::make_pair(true, Parameters::kRGBDProximityPathFilteringRadius())));
363  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathRawPosesUsed", std::make_pair(true, Parameters::kRGBDProximityPathRawPosesUsed())));
364 
365  removedParameters_.insert(std::make_pair("RGBD/OptimizeStrategy", std::make_pair(true, Parameters::kOptimizerStrategy())));
366  removedParameters_.insert(std::make_pair("RGBD/OptimizeEpsilon", std::make_pair(true, Parameters::kOptimizerEpsilon())));
367  removedParameters_.insert(std::make_pair("RGBD/OptimizeIterations", std::make_pair(true, Parameters::kOptimizerIterations())));
368  removedParameters_.insert(std::make_pair("RGBD/OptimizeRobust", std::make_pair(true, Parameters::kOptimizerRobust())));
369  removedParameters_.insert(std::make_pair("RGBD/OptimizeSlam2D", std::make_pair(true, Parameters::kRegForce3DoF())));
370  removedParameters_.insert(std::make_pair("RGBD/OptimizeSlam2d", std::make_pair(true, Parameters::kRegForce3DoF())));
371  removedParameters_.insert(std::make_pair("RGBD/OptimizeVarianceIgnored", std::make_pair(true, Parameters::kOptimizerVarianceIgnored())));
372 
373  removedParameters_.insert(std::make_pair("Stereo/WinSize", std::make_pair(true, Parameters::kStereoWinWidth())));
374 
375  // before 0.11.0
376  removedParameters_.insert(std::make_pair("GFTT/MaxCorners", std::make_pair(true, Parameters::kVisMaxFeatures())));
377  removedParameters_.insert(std::make_pair("LccBow/MaxDepth", std::make_pair(true, Parameters::kVisMaxDepth())));
378  removedParameters_.insert(std::make_pair("LccReextract/LoopClosureFeatures", std::make_pair(true, Parameters::kRGBDLoopClosureReextractFeatures())));
379  removedParameters_.insert(std::make_pair("Rtabmap/DetectorStrategy", std::make_pair(true, Parameters::kKpDetectorStrategy())));
380  removedParameters_.insert(std::make_pair("RGBD/ScanMatchingSize", std::make_pair(true, Parameters::kRGBDNeighborLinkRefining())));
381  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionRadius", std::make_pair(true, Parameters::kRGBDLocalRadius())));
382  removedParameters_.insert(std::make_pair("RGBD/ToroIterations", std::make_pair(true, Parameters::kOptimizerIterations())));
383  removedParameters_.insert(std::make_pair("Mem/RehearsedNodesKept", std::make_pair(true, Parameters::kMemNotLinkedNodesKept())));
384  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxDiffID", std::make_pair(true, Parameters::kRGBDProximityMaxGraphDepth())));
385  removedParameters_.insert(std::make_pair("RGBD/PlanVirtualLinksMaxDiffID", std::make_pair(false, "")));
386  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxDiffID", std::make_pair(false, "")));
387  removedParameters_.insert(std::make_pair("Odom/Type", std::make_pair(true, Parameters::kVisFeatureType())));
388  removedParameters_.insert(std::make_pair("Odom/MaxWords", std::make_pair(true, Parameters::kVisMaxFeatures())));
389  removedParameters_.insert(std::make_pair("Odom/LocalHistory", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
390  removedParameters_.insert(std::make_pair("Odom/NearestNeighbor", std::make_pair(true, Parameters::kVisCorNNType())));
391  removedParameters_.insert(std::make_pair("Odom/NNDR", std::make_pair(true, Parameters::kVisCorNNDR())));
392  }
393  return removedParameters_;
394 }
395 
396 const ParametersMap & Parameters::getBackwardCompatibilityMap()
397 {
398  if(backwardCompatibilityMap_.empty())
399  {
400  getRemovedParameters(); // make sure removedParameters is filled
401 
402  // compatibility
403  for(std::map<std::string, std::pair<bool, std::string> >::iterator iter=removedParameters_.begin();
404  iter!=removedParameters_.end();
405  ++iter)
406  {
407  if(iter->second.first)
408  {
409  backwardCompatibilityMap_.insert(ParametersPair(iter->second.second, iter->first));
410  }
411  }
412  }
413  return backwardCompatibilityMap_;
414 }
415 
416 std::string Parameters::getType(const std::string & paramKey)
417 {
418  std::string type;
419  ParametersMap::iterator iter = parametersType_.find(paramKey);
420  if(iter != parametersType_.end())
421  {
422  type = iter->second;
423  }
424  else
425  {
426  UERROR("Parameters \"%s\" doesn't exist!", paramKey.c_str());
427  }
428  return type;
429 }
430 
431 std::string Parameters::getDescription(const std::string & paramKey)
432 {
433  std::string description;
434  ParametersMap::iterator iter = descriptions_.find(paramKey);
435  if(iter != descriptions_.end())
436  {
437  description = iter->second;
438  }
439  else
440  {
441  UERROR("Parameters \"%s\" doesn't exist!", paramKey.c_str());
442  }
443  return description;
444 }
445 
446 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, bool & value)
447 {
448  ParametersMap::const_iterator iter = parameters.find(key);
449  if(iter != parameters.end())
450  {
451  value = uStr2Bool(iter->second.c_str());
452  return true;
453  }
454  return false;
455 }
456 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, int & value)
457 {
458  ParametersMap::const_iterator iter = parameters.find(key);
459  if(iter != parameters.end())
460  {
461  value = uStr2Int(iter->second.c_str());
462  return true;
463  }
464  return false;
465 }
466 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, unsigned int & value)
467 {
468  ParametersMap::const_iterator iter = parameters.find(key);
469  if(iter != parameters.end())
470  {
471  value = uStr2Int(iter->second.c_str());
472  return true;
473  }
474  return false;
475 }
476 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, float & value)
477 {
478  ParametersMap::const_iterator iter = parameters.find(key);
479  if(iter != parameters.end())
480  {
481  value = uStr2Float(iter->second);
482  return true;
483  }
484  return false;
485 }
486 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, double & value)
487 {
488  ParametersMap::const_iterator iter = parameters.find(key);
489  if(iter != parameters.end())
490  {
491  value = uStr2Double(iter->second);
492  return true;
493  }
494  return false;
495 }
496 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, std::string & value)
497 {
498  ParametersMap::const_iterator iter = parameters.find(key);
499  if(iter != parameters.end())
500  {
501  value = iter->second;
502  return true;
503  }
504  return false;
505 }
506 void Parameters::parse(const ParametersMap & parameters, ParametersMap & parametersOut)
507 {
508  for(ParametersMap::iterator iter=parametersOut.begin(); iter!=parametersOut.end(); ++iter)
509  {
510  ParametersMap::const_iterator jter = parameters.find(iter->first);
511  if(jter != parameters.end())
512  {
513  iter->second = jter->second;
514  }
515  }
516 }
517 
518 const char * Parameters::showUsage()
519 {
520  return "RTAB-Map options:\n"
521  " --help Show usage.\n"
522  " --version Show version of rtabmap and its dependencies.\n"
523  " --params Show all parameters with their default value and description\n"
524  " --\"parameter name\" \"value\" Overwrite a specific RTAB-Map's parameter :\n"
525  " --SURF/HessianThreshold 150\n"
526  " For parameters in table format, add ',' between values :\n"
527  " --Kp/RoiRatios 0,0,0.1,0\n"
528  "Logger options:\n"
529  " --nolog Disable logger\n"
530  " --logconsole Set logger console type\n"
531  " --logfile \"path\" Set logger file type\n"
532  " --logfilea \"path\" Set logger file type with appending mode if the file already exists\n"
533  " --udebug Set logger level to debug\n"
534  " --uinfo Set logger level to info\n"
535  " --uwarn Set logger level to warn\n"
536  " --uerror Set logger level to error\n"
537  " --logtime \"bool\" Print time when logging\n"
538  " --logwhere \"bool\" Print where when logging\n"
539  " --logthread \"bool\" Print thread id when logging\n"
540  ;
541 }
542 
543 ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParameters)
544 {
545  ParametersMap out;
546  const ParametersMap & parameters = getDefaultParameters();
547  const std::map<std::string, std::pair<bool, std::string> > & removedParams = getRemovedParameters();
548  for(int i=0;i<argc;++i)
549  {
550  bool checkParameters = onlyParameters;
551  if(!checkParameters)
552  {
553  if(strcmp(argv[i], "--help") == 0)
554  {
555  std::cout << showUsage() << std::endl;
556  exit(0);
557  }
558  else if(strcmp(argv[i], "--version") == 0)
559  {
560  std::string str = "RTAB-Map:";
561 
562  int spacing = 30;
563  std::cout << str << std::setw(spacing - str.size()) << RTABMAP_VERSION << std::endl;
564  str = "OpenCV:";
565 #ifdef RTABMAP_OPENCV3
566  std::cout << str << std::setw(spacing - str.size()) << "3" << std::endl;
567 #else
568  std::cout << str << std::setw(spacing - str.size()) << "2" << std::endl;
569 #endif
570  str = "With OpenCV nonfree:";
571 #ifdef RTABMAP_NONFREE
572  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
573 #else
574  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
575 #endif
576  str = "With TORO:";
577 #ifdef RTABMAP_TORO
578  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
579 #else
580  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
581 #endif
582  str = "With g2o:";
583 #ifdef RTABMAP_G2O
584  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
585 #else
586  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
587 #endif
588  str = "With GTSAM:";
589 #ifdef RTABMAP_GTSAM
590  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
591 #else
592  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
593 #endif
594  str = "With Vertigo:";
595 #ifdef RTABMAP_VERTIGO
596  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
597 #else
598  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
599 #endif
600  str = "With CVSBA:";
601 #ifdef RTABMAP_CVSBA
602  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
603 #else
604  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
605 #endif
606  str = "With OpenNI2:";
607 #ifdef RTABMAP_OPENNI2
608  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
609 #else
610  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
611 #endif
612  str = "With Freenect:";
613 #ifdef RTABMAP_FREENECT
614  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
615 #else
616  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
617 #endif
618  str = "With Freenect2:";
619 #ifdef RTABMAP_FREENECT2
620  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
621 #else
622  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
623 #endif
624  str = "With K4W2:";
625 #ifdef RTABMAP_K4W2
626  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
627 #else
628  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
629 #endif
630  str = "With DC1394:";
631 #ifdef RTABMAP_DC1394
632  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
633 #else
634  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
635 #endif
636  str = "With FlyCapture2:";
637 #ifdef RTABMAP_FLYCAPTURE2
638  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
639 #else
640  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
641 #endif
642  str = "With ZED:";
643 #ifdef RTABMAP_ZED
644  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
645 #else
646  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
647 #endif
648  str = "With RealSense:";
649 #ifdef RTABMAP_REALSENSE
650  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
651 #else
652  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
653 #endif
654  str = "With RealSense SLAM:";
655 #ifdef RTABMAP_REALSENSE_SLAM
656  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
657 #else
658  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
659 #endif
660  str = "With RealSense2:";
661 #ifdef RTABMAP_REALSENSE2
662  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
663 #else
664  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
665 #endif
666  str = "With libpointmatcher:";
667 #ifdef RTABMAP_POINTMATCHER
668  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
669 #else
670  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
671 #endif
672  str = "With octomap:";
673 #ifdef RTABMAP_OCTOMAP
674  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
675 #else
676  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
677 #endif
678  str = "With cpu-tsdf:";
679 #ifdef RTABMAP_CPUTSDF
680  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
681 #else
682  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
683 #endif
684  str = "With open chisel:";
685 #ifdef RTABMAP_OPENCHISEL
686  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
687 #else
688  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
689 #endif
690  str = "With LOAM:";
691 #ifdef RTABMAP_LOAM
692  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
693 #else
694  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
695 #endif
696  str = "With FOVIS:";
697 #ifdef RTABMAP_FOVIS
698  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
699 #else
700  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
701 #endif
702  str = "With Viso2:";
703 #ifdef RTABMAP_VISO2
704  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
705 #else
706  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
707 #endif
708  str = "With DVO:";
709 #ifdef RTABMAP_DVO
710  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
711 #else
712  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
713 #endif
714  str = "With ORB_SLAM2:";
715 #ifdef RTABMAP_ORB_SLAM2
716  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
717 #else
718  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
719 #endif
720  str = "With OKVIS:";
721 #ifdef RTABMAP_OKVIS
722  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
723 #else
724  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
725 #endif
726  str = "With MSCKF_VIO:";
727 #ifdef RTABMAP_MSCKF_VIO
728  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
729 #else
730  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
731 #endif
732  exit(0);
733  }
734  else if(strcmp(argv[i], "--nolog") == 0)
735  {
736  ULogger::setType(ULogger::kTypeNoLog);
737  }
738  else if(strcmp(argv[i], "--logconsole") == 0)
739  {
740  ULogger::setType(ULogger::kTypeConsole);
741  }
742  else if(strcmp(argv[i], "--logfile") == 0)
743  {
744  ++i;
745  if(i < argc)
746  {
747  ULogger::setType(ULogger::kTypeFile, argv[i], false);
748  }
749  else
750  {
751  UERROR("\"--logfile\" argument requires following file path");
752  }
753  }
754  else if(strcmp(argv[i], "--logfilea") == 0)
755  {
756  ++i;
757  if(i < argc)
758  {
759  ULogger::setType(ULogger::kTypeFile, argv[i], true);
760  }
761  else
762  {
763  UERROR("\"--logfilea\" argument requires following file path");
764  }
765  }
766  else if(strcmp(argv[i], "--udebug") == 0)
767  {
768  ULogger::setLevel(ULogger::kDebug);
769  }
770  else if(strcmp(argv[i], "--uinfo") == 0)
771  {
772  ULogger::setLevel(ULogger::kInfo);
773  }
774  else if(strcmp(argv[i], "--uwarn") == 0)
775  {
776  ULogger::setLevel(ULogger::kWarning);
777  }
778  else if(strcmp(argv[i], "--uerror") == 0)
779  {
780  ULogger::setLevel(ULogger::kError);
781  }
782  else if(strcmp(argv[i], "--ulogtime") == 0)
783  {
784  ++i;
785  if(i < argc)
786  {
787  ULogger::setPrintTime(uStr2Bool(argv[i]));
788  }
789  else
790  {
791  UERROR("\"--ulogtime\" argument requires a following boolean value");
792  }
793  }
794  else if(strcmp(argv[i], "--ulogwhere") == 0)
795  {
796  ++i;
797  if(i < argc)
798  {
799  ULogger::setPrintWhere(uStr2Bool(argv[i]));
800  }
801  else
802  {
803  UERROR("\"--ulogwhere\" argument requires a following boolean value");
804  }
805  }
806  else if(strcmp(argv[i], "--ulogthread") == 0)
807  {
808  ++i;
809  if(i < argc)
810  {
811  ULogger::setPrintThreadId(uStr2Bool(argv[i]));
812  }
813  else
814  {
815  UERROR("\"--ulogthread\" argument requires a following boolean value");
816  }
817  }
818  else
819  {
820  checkParameters = true;
821  }
822  }
823 
824  if(checkParameters) // check for parameters
825  {
826  if(strcmp(argv[i], "--params") == 0)
827  {
828  for(rtabmap::ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
829  {
830  bool ignore = false;
831  UASSERT(uSplit(iter->first, '/').size() == 2);
832  std::string group = uSplit(iter->first, '/').front();
833 #ifndef RTABMAP_GTSAM
834  if(group.compare("GTSAM") == 0)
835  {
836  ignore = true;
837  }
838 #endif
839 #ifndef RTABMAP_G2O
840  if(group.compare("g2o") == 0)
841  {
842  ignore = true;
843  }
844 #endif
845 #ifndef RTABMAP_FOVIS
846  if(group.compare("OdomFovis") == 0)
847  {
848  ignore = true;
849  }
850 #endif
851 #ifndef RTABMAP_VISO2
852  if(group.compare("OdomViso2") == 0)
853  {
854  ignore = true;
855  }
856 #endif
857 #ifndef RTABMAP_ORBSLAM2
858  if(group.compare("OdomORBSLAM2") == 0)
859  {
860  ignore = true;
861  }
862 #endif
863 #ifndef RTABMAP_OKVIS
864  if(group.compare("OdomOKVIS") == 0)
865  {
866  ignore = true;
867  }
868 #endif
869 #ifndef RTABMAP_LOAM
870  if(group.compare("OdomLOAM") == 0)
871  {
872  ignore = true;
873  }
874 #endif
875 #ifndef RTABMAP_MSCKF_VIO
876  if(group.compare("OdomMSCKF") == 0)
877  {
878  ignore = true;
879  }
880 #endif
881  if(!ignore)
882  {
883  std::string str = "Param: " + iter->first + " = \"" + iter->second + "\"";
884  std::cout <<
885  str <<
886  std::setw(60 - str.size()) <<
887  " [" <<
888  rtabmap::Parameters::getDescription(iter->first).c_str() <<
889  "]" <<
890  std::endl;
891  }
892  }
893  UWARN("App will now exit after showing default RTAB-Map parameters because "
894  "argument \"--params\" is detected!");
895  exit(0);
896  }
897  else
898  {
899  std::string key = uReplaceChar(argv[i], '-', "");
900  ParametersMap::const_iterator iter = parameters.find(key);
901  if(iter != parameters.end())
902  {
903  ++i;
904  if(i < argc)
905  {
906  uInsert(out, ParametersPair(iter->first, argv[i]));
907  UINFO("Parsed parameter \"%s\"=\"%s\"", iter->first.c_str(), argv[i]);
908  }
909  }
910  else
911  {
912  // backward compatibility
913  std::map<std::string, std::pair<bool, std::string> >::const_iterator jter = removedParams.find(key);
914  if(jter!=removedParams.end())
915  {
916  if(jter->second.first)
917  {
918  ++i;
919  if(i < argc)
920  {
921  std::string value = argv[i];
922  if(!value.empty())
923  {
924  value = uReplaceChar(value, ',', ' '); // for table
925  key = jter->second.second;
926  UWARN("Parameter migration from \"%s\" to \"%s\" (value=%s).",
927  jter->first.c_str(), jter->second.second.c_str(), value.c_str());
928  uInsert(out, ParametersPair(key, value));
929  }
930  }
931  else
932  {
933  UERROR("Value missing for argument \"%s\"", argv[i-1]);
934  }
935  }
936  else if(jter->second.second.empty())
937  {
938  UERROR("Parameter \"%s\" doesn't exist anymore.", jter->first.c_str());
939  }
940  else
941  {
942  UERROR("Parameter \"%s\" doesn't exist anymore, check this similar parameter \"%s\".", jter->first.c_str(), jter->second.second.c_str());
943  }
944  }
945  }
946  }
947  }
948  }
949  return out;
950 }
951 
952 
953 void Parameters::readINI(const std::string & configFile, ParametersMap & parameters, bool modifiedOnly)
954 {
955  CSimpleIniA ini;
956  ini.LoadFile(configFile.c_str());
957  const CSimpleIniA::TKeyVal * keyValMap = ini.GetSection("Core");
958  if(keyValMap)
959  {
960  for(CSimpleIniA::TKeyVal::const_iterator iter=keyValMap->begin(); iter!=keyValMap->end(); ++iter)
961  {
962  std::string key = (*iter).first.pItem;
963  if(key.compare("Version") == 0)
964  {
965  // Compare version in ini with the current RTAB-Map version
966  std::vector<std::string> version = uListToVector(uSplit((*iter).second, '.'));
967  if(version.size() == 3)
968  {
969  if(!RTABMAP_VERSION_COMPARE(std::atoi(version[0].c_str()), std::atoi(version[1].c_str()), std::atoi(version[2].c_str())))
970  {
971  if(configFile.find(".rtabmap") != std::string::npos)
972  {
973  UWARN("Version in the config file \"%s\" is more recent (\"%s\") than "
974  "current RTAB-Map version used (\"%s\"). The config file will be upgraded "
975  "to new version.",
976  configFile.c_str(),
977  (*iter).second,
978  RTABMAP_VERSION);
979  }
980  else
981  {
982  UERROR("Version in the config file \"%s\" is more recent (\"%s\") than "
983  "current RTAB-Map version used (\"%s\"). New parameters (if there are some) will "
984  "be ignored.",
985  configFile.c_str(),
986  (*iter).second,
987  RTABMAP_VERSION);
988  }
989  }
990  }
991  }
992  else
993  {
994  key = uReplaceChar(key, '\\', '/'); // Ini files use \ by default for separators, so replace them
995 
996  // look for old parameter name
997  std::map<std::string, std::pair<bool, std::string> >::const_iterator oldIter = Parameters::getRemovedParameters().find(key);
998  if(oldIter!=Parameters::getRemovedParameters().end())
999  {
1000  if(oldIter->second.first)
1001  {
1002  if(parameters.find(oldIter->second.second) == parameters.end())
1003  {
1004  key = oldIter->second.second;
1005  UINFO("Parameter migration from \"%s\" to \"%s\" (value=%s, default=%s).",
1006  oldIter->first.c_str(), oldIter->second.second.c_str(), iter->second, Parameters::getDefaultParameters().at(oldIter->second.second).c_str());
1007  }
1008  }
1009  else if(oldIter->second.second.empty())
1010  {
1011  UWARN("Parameter \"%s\" doesn't exist anymore.",
1012  oldIter->first.c_str());
1013  }
1014  else if(parameters.find(oldIter->second.second) == parameters.end())
1015  {
1016  UWARN("Parameter \"%s\" (value=%s) doesn't exist anymore, you may want to use this similar parameter \"%s (default=%s): %s\".",
1017  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());
1018  }
1019 
1020  }
1021 
1022  if(Parameters::getDefaultParameters().find(key) != Parameters::getDefaultParameters().end())
1023  {
1024  if(!modifiedOnly || std::string(iter->second).compare(Parameters::getDefaultParameters().find(key)->second) != 0)
1025  {
1026  uInsert(parameters, ParametersPair(key, iter->second));
1027  }
1028  }
1029  }
1030  }
1031  }
1032  else
1033  {
1034  ULOGGER_WARN("Section \"Core\" in %s doesn't exist... "
1035  "Ignore this warning if the ini file does not exist yet. "
1036  "The ini file will be automatically created when rtabmap will close.", configFile.c_str());
1037  }
1038 }
1039 
1040 void Parameters::writeINI(const std::string & configFile, const ParametersMap & parameters)
1041 {
1042  CSimpleIniA ini;
1043  ini.LoadFile(configFile.c_str());
1044 
1045  // Save current version
1046  ini.SetValue("Core", "Version", RTABMAP_VERSION, NULL, true);
1047 
1048  for(ParametersMap::const_iterator i=parameters.begin(); i!=parameters.end(); ++i)
1049  {
1050  std::string key = (*i).first;
1051  key = uReplaceChar(key, '/', '\\'); // Ini files use \ by default for separators, so replace the /
1052 
1053  std::string value = (*i).second.c_str();
1054  value = uReplaceChar(value, '\\', '/'); // use always slash for values
1055 
1056  ini.SetValue("Core", key.c_str(), value.c_str(), NULL, true);
1057  }
1058 
1059  ini.SaveFile(configFile.c_str());
1060 }
1061 
1062 }
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rtabmap
Author(s): Mathieu Labbe
autogenerated on Wed Jun 5 2019 22:41:32