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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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  group.compare("PyDetector") == 0;
172 }
173 
174 rtabmap::ParametersMap Parameters::getDefaultOdometryParameters(bool stereo, bool vis, bool icp)
175 {
176  rtabmap::ParametersMap odomParameters;
177  rtabmap::ParametersMap defaultParameters = rtabmap::Parameters::getDefaultParameters();
178  for(rtabmap::ParametersMap::iterator iter=defaultParameters.begin(); iter!=defaultParameters.end(); ++iter)
179  {
180  std::string group = uSplit(iter->first, '/').front();
181  if(uStrContains(group, "Odom") ||
182  (stereo && group.compare("Stereo") == 0) ||
183  (icp && group.compare("Icp") == 0) ||
184  (vis && Parameters::isFeatureParameter(iter->first)) ||
185  group.compare("Reg") == 0 ||
186  group.compare("Optimizer") == 0 ||
187  group.compare("g2o") == 0 ||
188  group.compare("GTSAM") == 0 ||
189  (vis && (group.compare("Vis") == 0 || group.compare("PyMatcher") == 0 || group.compare("GMS") == 0)) ||
190  iter->first.compare(kRtabmapPublishRAMUsage())==0 ||
191  iter->first.compare(kRtabmapImagesAlreadyRectified())==0 ||
192  iter->first.compare(kKpByteToFloat())==0)
193  {
194  odomParameters.insert(*iter);
195  }
196  }
197  return odomParameters;
198 }
199 
200 ParametersMap Parameters::getDefaultParameters(const std::string & groupIn)
201 {
202  rtabmap::ParametersMap parameters;
203  const rtabmap::ParametersMap & defaultParameters = rtabmap::Parameters::getDefaultParameters();
204  for(rtabmap::ParametersMap::const_iterator iter=defaultParameters.begin(); iter!=defaultParameters.end(); ++iter)
205  {
206  UASSERT(uSplit(iter->first, '/').size() == 2);
207  std::string group = uSplit(iter->first, '/').front();
208  if(group.compare(groupIn) == 0)
209  {
210  parameters.insert(*iter);
211  }
212  }
213  UASSERT_MSG(parameters.size(), uFormat("No parameters found for group %s!", groupIn.c_str()).c_str());
214  return parameters;
215 }
216 
217 ParametersMap Parameters::filterParameters(const ParametersMap & parameters, const std::string & groupIn, bool remove)
218 {
219  ParametersMap output;
220  for(rtabmap::ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
221  {
222  UASSERT(uSplit(iter->first, '/').size() == 2);
223  std::string group = uSplit(iter->first, '/').front();
224  bool sameGroup = group.compare(groupIn) == 0;
225  if((!remove && sameGroup) || (remove && !sameGroup))
226  {
227  output.insert(*iter);
228  }
229  }
230  return output;
231 }
232 
233 const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemovedParameters()
234 {
235  if(removedParameters_.empty())
236  {
237  // removed parameters
238 
239  // 0.21.3
240  removedParameters_.insert(std::make_pair("GridGlobal/FullUpdate", std::make_pair(false, "")));
241 
242  // 0.20.15
243  removedParameters_.insert(std::make_pair("Grid/FromDepth", std::make_pair(true, Parameters::kGridSensor())));
244 
245  // 0.20.9
246  removedParameters_.insert(std::make_pair("OdomORBSLAM2/VocPath", std::make_pair(true, Parameters::kOdomORBSLAMVocPath())));
247  removedParameters_.insert(std::make_pair("OdomORBSLAM2/Bf", std::make_pair(true, Parameters::kOdomORBSLAMBf())));
248  removedParameters_.insert(std::make_pair("OdomORBSLAM2/ThDepth", std::make_pair(true, Parameters::kOdomORBSLAMThDepth())));
249  removedParameters_.insert(std::make_pair("OdomORBSLAM2/Fps", std::make_pair(true, Parameters::kOdomORBSLAMFps())));
250  removedParameters_.insert(std::make_pair("OdomORBSLAM2/MaxFeatures", std::make_pair(true, Parameters::kOdomORBSLAMMaxFeatures())));
251  removedParameters_.insert(std::make_pair("OdomORBSLAM2/MapSize", std::make_pair(true, Parameters::kOdomORBSLAMMapSize())));
252 
253  removedParameters_.insert(std::make_pair("RGBD/SavedLocalizationIgnored", std::make_pair(true, Parameters::kRGBDStartAtOrigin())));
254 
255  removedParameters_.insert(std::make_pair("Icp/PMForce4DoF", std::make_pair(true, Parameters::kIcpForce4DoF())));
256  removedParameters_.insert(std::make_pair("Icp/PM", std::make_pair(true, Parameters::kIcpStrategy()))); // convert "true" to "1"
257  removedParameters_.insert(std::make_pair("Icp/PMOutlierRatio", std::make_pair(true, Parameters::kIcpOutlierRatio())));
258 
259  // 0.20.
260  removedParameters_.insert(std::make_pair("SuperGlue/Path", std::make_pair(true, Parameters::kPyMatcherPath())));
261  removedParameters_.insert(std::make_pair("SuperGlue/Iterations", std::make_pair(true, Parameters::kPyMatcherIterations())));
262  removedParameters_.insert(std::make_pair("SuperGlue/MatchThreshold", std::make_pair(true, Parameters::kPyMatcherThreshold())));
263  removedParameters_.insert(std::make_pair("SuperGlue/Cuda", std::make_pair(true, Parameters::kPyMatcherCuda())));
264  removedParameters_.insert(std::make_pair("SuperGlue/Indoor", std::make_pair(false, Parameters::kPyMatcherModel())));
265 
266  removedParameters_.insert(std::make_pair("Vis/CorCrossCheck", std::make_pair(false, Parameters::kVisCorNNType())));
267  removedParameters_.insert(std::make_pair("SPTorch/ModelPath", std::make_pair(true, Parameters::kSuperPointModelPath())));
268  removedParameters_.insert(std::make_pair("SPTorch/Threshold", std::make_pair(true, Parameters::kSuperPointThreshold())));
269  removedParameters_.insert(std::make_pair("SPTorch/NMS", std::make_pair(true, Parameters::kSuperPointNMS())));
270  removedParameters_.insert(std::make_pair("SPTorch/MinDistance", std::make_pair(true, Parameters::kSuperPointNMSRadius())));
271  removedParameters_.insert(std::make_pair("SPTorch/Cuda", std::make_pair(true, Parameters::kSuperPointCuda())));
272 
273  // 0.19.4
274  removedParameters_.insert(std::make_pair("RGBD/MaxLocalizationDistance", std::make_pair(true, Parameters::kRGBDMaxLoopClosureDistance())));
275 
276  // 0.19.3
277  removedParameters_.insert(std::make_pair("Aruco/Dictionary", std::make_pair(true, Parameters::kMarkerDictionary())));
278  removedParameters_.insert(std::make_pair("Aruco/MarkerLength", std::make_pair(true, Parameters::kMarkerLength())));
279  removedParameters_.insert(std::make_pair("Aruco/MaxDepthError", std::make_pair(true, Parameters::kMarkerMaxDepthError())));
280  removedParameters_.insert(std::make_pair("Aruco/VarianceLinear", std::make_pair(true, Parameters::kMarkerVarianceLinear())));
281  removedParameters_.insert(std::make_pair("Aruco/VarianceAngular", std::make_pair(true, Parameters::kMarkerVarianceAngular())));
282  removedParameters_.insert(std::make_pair("Aruco/CornerRefinementMethod", std::make_pair(true, Parameters::kMarkerCornerRefinementMethod())));
283 
284  // 0.17.5
285  removedParameters_.insert(std::make_pair("Grid/OctoMapOccupancyThr", std::make_pair(true, Parameters::kGridGlobalOccupancyThr())));
286 
287  // 0.17.0
288  removedParameters_.insert(std::make_pair("Grid/Scan2dMaxFilledRange", std::make_pair(false, Parameters::kGridRangeMax())));
289 
290  // 0.16.0
291  removedParameters_.insert(std::make_pair("Grid/ProjRayTracing", std::make_pair(true, Parameters::kGridRayTracing())));
292  removedParameters_.insert(std::make_pair("Grid/DepthMin", std::make_pair(true, Parameters::kGridRangeMin())));
293  removedParameters_.insert(std::make_pair("Grid/DepthMax", std::make_pair(true, Parameters::kGridRangeMax())));
294 
295  // 0.15.1
296  removedParameters_.insert(std::make_pair("Reg/VarianceFromInliersCount", std::make_pair(false, "")));
297  removedParameters_.insert(std::make_pair("Reg/VarianceNormalized", std::make_pair(false, "")));
298 
299  // 0.13.3
300  removedParameters_.insert(std::make_pair("Icp/PointToPlaneNormalNeighbors", std::make_pair(true, Parameters::kIcpPointToPlaneK())));
301 
302 
303  // 0.13.1
304  removedParameters_.insert(std::make_pair("Rtabmap/VhStrategy", std::make_pair(true, Parameters::kVhEpEnabled())));
305 
306  // 0.12.5
307  removedParameters_.insert(std::make_pair("Grid/FullUpdate", std::make_pair(false, "")));
308 
309  // 0.12.1
310  removedParameters_.insert(std::make_pair("Grid/3DGroundIsObstacle", std::make_pair(true, Parameters::kGridGroundIsObstacle())));
311 
312  // 0.11.12
313  removedParameters_.insert(std::make_pair("Optimizer/Slam2D", std::make_pair(true, Parameters::kRegForce3DoF())));
314  removedParameters_.insert(std::make_pair("OdomF2M/FixedMapPath", std::make_pair(false, "")));
315 
316  // 0.11.10 typos
317  removedParameters_.insert(std::make_pair("Grid/FlatObstaclesDetected", std::make_pair(true, Parameters::kGridFlatObstacleDetected())));
318 
319  // 0.11.8
320  removedParameters_.insert(std::make_pair("Reg/Force2D", std::make_pair(true, Parameters::kRegForce3DoF())));
321  removedParameters_.insert(std::make_pair("OdomF2M/ScanSubstractRadius", std::make_pair(true, Parameters::kOdomF2MScanSubtractRadius())));
322 
323  // 0.11.6
324  removedParameters_.insert(std::make_pair("RGBD/ProximityPathScansMerged", std::make_pair(false, "")));
325 
326  // 0.11.3
327  removedParameters_.insert(std::make_pair("Mem/ImageDecimation", std::make_pair(true, Parameters::kMemImagePostDecimation())));
328 
329  // 0.11.2
330  removedParameters_.insert(std::make_pair("OdomLocalMap/HistorySize", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
331  removedParameters_.insert(std::make_pair("OdomLocalMap/FixedMapPath", std::make_pair(false, "")));
332  removedParameters_.insert(std::make_pair("OdomF2F/GuessMotion", std::make_pair(true, Parameters::kOdomGuessMotion())));
333  removedParameters_.insert(std::make_pair("OdomF2F/KeyFrameThr", std::make_pair(false, Parameters::kOdomKeyFrameThr())));
334 
335  // 0.11.0
336  removedParameters_.insert(std::make_pair("OdomBow/LocalHistorySize", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
337  removedParameters_.insert(std::make_pair("OdomBow/FixedLocalMapPath", std::make_pair(false, "")));
338  removedParameters_.insert(std::make_pair("OdomFlow/KeyFrameThr", std::make_pair(false, Parameters::kOdomKeyFrameThr())));
339  removedParameters_.insert(std::make_pair("OdomFlow/GuessMotion", std::make_pair(true, Parameters::kOdomGuessMotion())));
340 
341  removedParameters_.insert(std::make_pair("Kp/WordsPerImage", std::make_pair(true, Parameters::kKpMaxFeatures())));
342 
343  removedParameters_.insert(std::make_pair("Mem/LocalSpaceLinksKeptInWM", std::make_pair(false, "")));
344 
345  removedParameters_.insert(std::make_pair("RGBD/PoseScanMatching", std::make_pair(true, Parameters::kRGBDNeighborLinkRefining())));
346 
347  removedParameters_.insert(std::make_pair("Odom/ParticleFiltering", std::make_pair(false, Parameters::kOdomFilteringStrategy())));
348  removedParameters_.insert(std::make_pair("Odom/FeatureType", std::make_pair(true, Parameters::kVisFeatureType())));
349  removedParameters_.insert(std::make_pair("Odom/EstimationType", std::make_pair(true, Parameters::kVisEstimationType())));
350  removedParameters_.insert(std::make_pair("Odom/MaxFeatures", std::make_pair(true, Parameters::kVisMaxFeatures())));
351  removedParameters_.insert(std::make_pair("Odom/InlierDistance", std::make_pair(true, Parameters::kVisInlierDistance())));
352  removedParameters_.insert(std::make_pair("Odom/MinInliers", std::make_pair(true, Parameters::kVisMinInliers())));
353  removedParameters_.insert(std::make_pair("Odom/Iterations", std::make_pair(true, Parameters::kVisIterations())));
354  removedParameters_.insert(std::make_pair("Odom/RefineIterations", std::make_pair(true, Parameters::kVisRefineIterations())));
355  removedParameters_.insert(std::make_pair("Odom/MaxDepth", std::make_pair(true, Parameters::kVisMaxDepth())));
356  removedParameters_.insert(std::make_pair("Odom/RoiRatios", std::make_pair(true, Parameters::kVisRoiRatios())));
357  removedParameters_.insert(std::make_pair("Odom/Force2D", std::make_pair(true, Parameters::kRegForce3DoF())));
358  removedParameters_.insert(std::make_pair("Odom/VarianceFromInliersCount", std::make_pair(false, "")));
359  removedParameters_.insert(std::make_pair("Odom/PnPReprojError", std::make_pair(true, Parameters::kVisPnPReprojError())));
360  removedParameters_.insert(std::make_pair("Odom/PnPFlags", std::make_pair(true, Parameters::kVisPnPFlags())));
361 
362  removedParameters_.insert(std::make_pair("OdomBow/NNType", std::make_pair(true, Parameters::kVisCorNNType())));
363  removedParameters_.insert(std::make_pair("OdomBow/NNDR", std::make_pair(true, Parameters::kVisCorNNDR())));
364 
365  removedParameters_.insert(std::make_pair("OdomFlow/WinSize", std::make_pair(true, Parameters::kVisCorFlowWinSize())));
366  removedParameters_.insert(std::make_pair("OdomFlow/Iterations", std::make_pair(true, Parameters::kVisCorFlowIterations())));
367  removedParameters_.insert(std::make_pair("OdomFlow/Eps", std::make_pair(true, Parameters::kVisCorFlowEps())));
368  removedParameters_.insert(std::make_pair("OdomFlow/MaxLevel", std::make_pair(true, Parameters::kVisCorFlowMaxLevel())));
369 
370  removedParameters_.insert(std::make_pair("OdomSubPix/WinSize", std::make_pair(true, Parameters::kVisSubPixWinSize())));
371  removedParameters_.insert(std::make_pair("OdomSubPix/Iterations", std::make_pair(true, Parameters::kVisSubPixIterations())));
372  removedParameters_.insert(std::make_pair("OdomSubPix/Eps", std::make_pair(true, Parameters::kVisSubPixEps())));
373 
374  removedParameters_.insert(std::make_pair("LccReextract/Activated", std::make_pair(true, Parameters::kRGBDLoopClosureReextractFeatures())));
375  removedParameters_.insert(std::make_pair("LccReextract/FeatureType", std::make_pair(false, Parameters::kVisFeatureType())));
376  removedParameters_.insert(std::make_pair("LccReextract/MaxWords", std::make_pair(false, Parameters::kVisMaxFeatures())));
377  removedParameters_.insert(std::make_pair("LccReextract/MaxDepth", std::make_pair(false, Parameters::kVisMaxDepth())));
378  removedParameters_.insert(std::make_pair("LccReextract/RoiRatios", std::make_pair(false, Parameters::kVisRoiRatios())));
379  removedParameters_.insert(std::make_pair("LccReextract/NNType", std::make_pair(false, Parameters::kVisCorNNType())));
380  removedParameters_.insert(std::make_pair("LccReextract/NNDR", std::make_pair(false, Parameters::kVisCorNNDR())));
381 
382  removedParameters_.insert(std::make_pair("LccBow/EstimationType", std::make_pair(false, Parameters::kVisEstimationType())));
383  removedParameters_.insert(std::make_pair("LccBow/InlierDistance", std::make_pair(false, Parameters::kVisInlierDistance())));
384  removedParameters_.insert(std::make_pair("LccBow/MinInliers", std::make_pair(false, Parameters::kVisMinInliers())));
385  removedParameters_.insert(std::make_pair("LccBow/Iterations", std::make_pair(false, Parameters::kVisIterations())));
386  removedParameters_.insert(std::make_pair("LccBow/RefineIterations", std::make_pair(false, Parameters::kVisRefineIterations())));
387  removedParameters_.insert(std::make_pair("LccBow/Force2D", std::make_pair(false, Parameters::kRegForce3DoF())));
388  removedParameters_.insert(std::make_pair("LccBow/VarianceFromInliersCount", std::make_pair(false, "")));
389  removedParameters_.insert(std::make_pair("LccBow/PnPReprojError", std::make_pair(false, Parameters::kVisPnPReprojError())));
390  removedParameters_.insert(std::make_pair("LccBow/PnPFlags", std::make_pair(false, Parameters::kVisPnPFlags())));
391  removedParameters_.insert(std::make_pair("LccBow/EpipolarGeometryVar", std::make_pair(true, Parameters::kVisEpipolarGeometryVar())));
392 
393  removedParameters_.insert(std::make_pair("LccIcp/Type", std::make_pair(false, Parameters::kRegStrategy())));
394 
395  removedParameters_.insert(std::make_pair("LccIcp3/Decimation", std::make_pair(false, "")));
396  removedParameters_.insert(std::make_pair("LccIcp3/MaxDepth", std::make_pair(false, "")));
397  removedParameters_.insert(std::make_pair("LccIcp3/VoxelSize", std::make_pair(false, Parameters::kIcpVoxelSize())));
398  removedParameters_.insert(std::make_pair("LccIcp3/Samples", std::make_pair(false, Parameters::kIcpDownsamplingStep())));
399  removedParameters_.insert(std::make_pair("LccIcp3/MaxCorrespondenceDistance", std::make_pair(false, Parameters::kIcpMaxCorrespondenceDistance())));
400  removedParameters_.insert(std::make_pair("LccIcp3/Iterations", std::make_pair(false, Parameters::kIcpIterations())));
401  removedParameters_.insert(std::make_pair("LccIcp3/CorrespondenceRatio", std::make_pair(false, Parameters::kIcpCorrespondenceRatio())));
402  removedParameters_.insert(std::make_pair("LccIcp3/PointToPlane", std::make_pair(true, Parameters::kIcpPointToPlane())));
403  removedParameters_.insert(std::make_pair("LccIcp3/PointToPlaneNormalNeighbors", std::make_pair(true, Parameters::kIcpPointToPlaneK())));
404 
405  removedParameters_.insert(std::make_pair("LccIcp2/MaxCorrespondenceDistance", std::make_pair(true, Parameters::kIcpMaxCorrespondenceDistance())));
406  removedParameters_.insert(std::make_pair("LccIcp2/Iterations", std::make_pair(true, Parameters::kIcpIterations())));
407  removedParameters_.insert(std::make_pair("LccIcp2/CorrespondenceRatio", std::make_pair(true, Parameters::kIcpCorrespondenceRatio())));
408  removedParameters_.insert(std::make_pair("LccIcp2/VoxelSize", std::make_pair(true, Parameters::kIcpVoxelSize())));
409 
410  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionByTime", std::make_pair(true, Parameters::kRGBDProximityByTime())));
411  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionBySpace", std::make_pair(true, Parameters::kRGBDProximityBySpace())));
412  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionTime", std::make_pair(true, Parameters::kRGBDProximityByTime())));
413  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionSpace", std::make_pair(true, Parameters::kRGBDProximityBySpace())));
414  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathScansMerged", std::make_pair(false, "")));
415  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxGraphDepth", std::make_pair(true, Parameters::kRGBDProximityMaxGraphDepth())));
416  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathFilteringRadius", std::make_pair(true, Parameters::kRGBDProximityPathFilteringRadius())));
417  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathRawPosesUsed", std::make_pair(true, Parameters::kRGBDProximityPathRawPosesUsed())));
418 
419  removedParameters_.insert(std::make_pair("RGBD/OptimizeStrategy", std::make_pair(true, Parameters::kOptimizerStrategy())));
420  removedParameters_.insert(std::make_pair("RGBD/OptimizeEpsilon", std::make_pair(true, Parameters::kOptimizerEpsilon())));
421  removedParameters_.insert(std::make_pair("RGBD/OptimizeIterations", std::make_pair(true, Parameters::kOptimizerIterations())));
422  removedParameters_.insert(std::make_pair("RGBD/OptimizeRobust", std::make_pair(true, Parameters::kOptimizerRobust())));
423  removedParameters_.insert(std::make_pair("RGBD/OptimizeSlam2D", std::make_pair(true, Parameters::kRegForce3DoF())));
424  removedParameters_.insert(std::make_pair("RGBD/OptimizeSlam2d", std::make_pair(true, Parameters::kRegForce3DoF())));
425  removedParameters_.insert(std::make_pair("RGBD/OptimizeVarianceIgnored", std::make_pair(true, Parameters::kOptimizerVarianceIgnored())));
426 
427  removedParameters_.insert(std::make_pair("Stereo/WinSize", std::make_pair(true, Parameters::kStereoWinWidth())));
428 
429  // before 0.11.0
430  removedParameters_.insert(std::make_pair("GFTT/MaxCorners", std::make_pair(true, Parameters::kVisMaxFeatures())));
431  removedParameters_.insert(std::make_pair("LccBow/MaxDepth", std::make_pair(true, Parameters::kVisMaxDepth())));
432  removedParameters_.insert(std::make_pair("LccReextract/LoopClosureFeatures", std::make_pair(true, Parameters::kRGBDLoopClosureReextractFeatures())));
433  removedParameters_.insert(std::make_pair("Rtabmap/DetectorStrategy", std::make_pair(true, Parameters::kKpDetectorStrategy())));
434  removedParameters_.insert(std::make_pair("RGBD/ScanMatchingSize", std::make_pair(true, Parameters::kRGBDNeighborLinkRefining())));
435  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionRadius", std::make_pair(true, Parameters::kRGBDLocalRadius())));
436  removedParameters_.insert(std::make_pair("RGBD/ToroIterations", std::make_pair(true, Parameters::kOptimizerIterations())));
437  removedParameters_.insert(std::make_pair("Mem/RehearsedNodesKept", std::make_pair(true, Parameters::kMemNotLinkedNodesKept())));
438  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxDiffID", std::make_pair(true, Parameters::kRGBDProximityMaxGraphDepth())));
439  removedParameters_.insert(std::make_pair("RGBD/PlanVirtualLinksMaxDiffID", std::make_pair(false, "")));
440  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxDiffID", std::make_pair(false, "")));
441  removedParameters_.insert(std::make_pair("Odom/Type", std::make_pair(true, Parameters::kVisFeatureType())));
442  removedParameters_.insert(std::make_pair("Odom/MaxWords", std::make_pair(true, Parameters::kVisMaxFeatures())));
443  removedParameters_.insert(std::make_pair("Odom/LocalHistory", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
444  removedParameters_.insert(std::make_pair("Odom/NearestNeighbor", std::make_pair(true, Parameters::kVisCorNNType())));
445  removedParameters_.insert(std::make_pair("Odom/NNDR", std::make_pair(true, Parameters::kVisCorNNDR())));
446  }
447  return removedParameters_;
448 }
449 
450 const ParametersMap & Parameters::getBackwardCompatibilityMap()
451 {
452  if(backwardCompatibilityMap_.empty())
453  {
454  getRemovedParameters(); // make sure removedParameters is filled
455 
456  // compatibility
457  for(std::map<std::string, std::pair<bool, std::string> >::iterator iter=removedParameters_.begin();
458  iter!=removedParameters_.end();
459  ++iter)
460  {
461  if(iter->second.first)
462  {
463  backwardCompatibilityMap_.insert(ParametersPair(iter->second.second, iter->first));
464  }
465  }
466  }
467  return backwardCompatibilityMap_;
468 }
469 
470 std::string Parameters::getType(const std::string & paramKey)
471 {
472  std::string type;
473  ParametersMap::iterator iter = parametersType_.find(paramKey);
474  if(iter != parametersType_.end())
475  {
476  type = iter->second;
477  }
478  else
479  {
480  UERROR("Parameters \"%s\" doesn't exist!", paramKey.c_str());
481  }
482  return type;
483 }
484 
485 std::string Parameters::getDescription(const std::string & paramKey)
486 {
487  std::string description;
488  ParametersMap::iterator iter = descriptions_.find(paramKey);
489  if(iter != descriptions_.end())
490  {
491  description = iter->second;
492  }
493  else
494  {
495  UERROR("Parameters \"%s\" doesn't exist!", paramKey.c_str());
496  }
497  return description;
498 }
499 
500 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, bool & value)
501 {
502  ParametersMap::const_iterator iter = parameters.find(key);
503  if(iter != parameters.end())
504  {
505  value = uStr2Bool(iter->second.c_str());
506  return true;
507  }
508  return false;
509 }
510 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, int & value)
511 {
512  ParametersMap::const_iterator iter = parameters.find(key);
513  if(iter != parameters.end())
514  {
515  value = uStr2Int(iter->second.c_str());
516  return true;
517  }
518  return false;
519 }
520 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, unsigned int & value)
521 {
522  ParametersMap::const_iterator iter = parameters.find(key);
523  if(iter != parameters.end())
524  {
525  value = uStr2Int(iter->second.c_str());
526  return true;
527  }
528  return false;
529 }
530 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, float & value)
531 {
532  ParametersMap::const_iterator iter = parameters.find(key);
533  if(iter != parameters.end())
534  {
535  value = uStr2Float(iter->second);
536  return true;
537  }
538  return false;
539 }
540 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, double & value)
541 {
542  ParametersMap::const_iterator iter = parameters.find(key);
543  if(iter != parameters.end())
544  {
545  value = uStr2Double(iter->second);
546  return true;
547  }
548  return false;
549 }
550 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, std::string & value)
551 {
552  ParametersMap::const_iterator iter = parameters.find(key);
553  if(iter != parameters.end())
554  {
555  value = iter->second;
556  return true;
557  }
558  return false;
559 }
560 void Parameters::parse(const ParametersMap & parameters, ParametersMap & parametersOut)
561 {
562  for(ParametersMap::iterator iter=parametersOut.begin(); iter!=parametersOut.end(); ++iter)
563  {
564  ParametersMap::const_iterator jter = parameters.find(iter->first);
565  if(jter != parameters.end())
566  {
567  iter->second = jter->second;
568  }
569  }
570 }
571 
572 const char * Parameters::showUsage()
573 {
574  return "RTAB-Map options:\n"
575  " --help Show usage.\n"
576  " --version Show version of rtabmap and its dependencies.\n"
577  " --params Show all parameters with their default value and description. \n"
578  " If a database path is set as last argument, the parameters in the \n"
579  " database will be shown in INI format.\n"
580  " --\"parameter name\" \"value\" Overwrite a specific RTAB-Map's parameter :\n"
581  " --SURF/HessianThreshold 150\n"
582  " For parameters in table format, add ',' between values :\n"
583  " --Kp/RoiRatios 0,0,0.1,0\n"
584  "Logger options:\n"
585  " --nolog Disable logger\n"
586  " --logconsole Set logger console type\n"
587  " --logfile \"path\" Set logger file type\n"
588  " --logfilea \"path\" Set logger file type with appending mode if the file already exists\n"
589  " --udebug Set logger level to debug\n"
590  " --uinfo Set logger level to info\n"
591  " --uwarn Set logger level to warn\n"
592  " --uerror Set logger level to error\n"
593  " --logtime \"bool\" Print time when logging\n"
594  " --logwhere \"bool\" Print where when logging\n"
595  " --logthread \"bool\" Print thread id when logging\n"
596  ;
597 }
598 
599 ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParameters)
600 {
601  ParametersMap out;
602  const ParametersMap & parameters = getDefaultParameters();
603  const std::map<std::string, std::pair<bool, std::string> > & removedParams = getRemovedParameters();
604  for(int i=0;i<argc;++i)
605  {
606  bool checkParameters = onlyParameters;
607  if(!checkParameters)
608  {
609  if(strcmp(argv[i], "--help") == 0)
610  {
611  std::cout << showUsage() << std::endl;
612  exit(0);
613  }
614  else if(strcmp(argv[i], "--version") == 0)
615  {
616  std::string str = "RTAB-Map:";
617 
618  int spacing = 30;
619  std::cout << str << std::setw(spacing - str.size()) << RTABMAP_VERSION << std::endl;
620  str = "PCL:";
621  std::cout << str << std::setw(spacing - str.size()) << PCL_VERSION_PRETTY << std::endl;
622  str = "With VTK:";
623 #ifndef DISABLE_VTK
624  std::cout << str << std::setw(spacing - str.size()) << vtkVersion::GetVTKVersion() << std::endl;
625 #else
626  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
627 #endif
628  str = "OpenCV:";
629  std::cout << str << std::setw(spacing - str.size()) << CV_VERSION << std::endl;
630 #if CV_MAJOR_VERSION >= 3
631  str = "With OpenCV xfeatures2d:";
632 #ifdef HAVE_OPENCV_XFEATURES2D
633  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
634 #else
635  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
636 #endif
637 #endif
638  str = "With OpenCV nonfree:";
639 #ifdef RTABMAP_NONFREE
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 ORB OcTree:";
645 #ifdef RTABMAP_ORB_OCTREE
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 SuperPoint Torch:";
651 #ifdef RTABMAP_TORCH
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 Python3:";
657 #ifdef RTABMAP_PYTHON
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 FastCV:";
663 #ifdef RTABMAP_FASTCV
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 OpenGV:";
669 #ifdef RTABMAP_OPENGV
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 Madgwick:";
675 #ifdef RTABMAP_MADGWICK
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 PDAL:";
681 #ifdef RTABMAP_PDAL
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 TORO:";
687 #ifdef RTABMAP_TORO
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 g2o:";
693 #ifdef RTABMAP_G2O
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 GTSAM:";
699 #ifdef RTABMAP_GTSAM
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 Vertigo:";
705 #ifdef RTABMAP_VERTIGO
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 CVSBA:";
711 #ifdef RTABMAP_CVSBA
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 Ceres:";
717 #ifdef RTABMAP_CERES
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 OpenNI:";
723 #ifdef RTABMAP_OPENNI
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 OpenNI2:";
729 #ifdef RTABMAP_OPENNI2
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 Freenect:";
735 #ifdef RTABMAP_FREENECT
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 Freenect2:";
741 #ifdef RTABMAP_FREENECT2
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 K4W2:";
747 #ifdef RTABMAP_K4W2
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 K4A:";
753 #ifdef RTABMAP_K4A
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 DC1394:";
759 #ifdef RTABMAP_DC1394
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 FlyCapture2:";
765 #ifdef RTABMAP_FLYCAPTURE2
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 ZED:";
771 #ifdef RTABMAP_ZED
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 ZED Open Capture:";
777 #ifdef RTABMAP_ZEDOC
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 RealSense:";
783 #ifdef RTABMAP_REALSENSE
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 RealSense SLAM:";
789 #ifdef RTABMAP_REALSENSE_SLAM
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 RealSense2:";
795 #ifdef RTABMAP_REALSENSE2
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 MYNT EYE S:";
801 #ifdef RTABMAP_MYNTEYE
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 DepthAI:";
807 #ifdef RTABMAP_DEPTHAI
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 XVisio SDK:";
813 #ifdef RTABMAP_XVSDK
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 libpointmatcher:";
819 #ifdef RTABMAP_POINTMATCHER
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 CCCoreLib:";
825 #ifdef RTABMAP_CCCORELIB
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 Open3D:";
831 #ifdef RTABMAP_OPEN3D
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  str = "With OctoMap:";
837 #ifdef RTABMAP_OCTOMAP
838  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
839 #else
840  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
841 #endif
842  str = "With GridMap:";
843 #ifdef RTABMAP_GRIDMAP
844  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
845 #else
846  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
847 #endif
848  str = "With cpu-tsdf:";
849 #ifdef RTABMAP_CPUTSDF
850  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
851 #else
852  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
853 #endif
854  str = "With open chisel:";
855 #ifdef RTABMAP_OPENCHISEL
856  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
857 #else
858  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
859 #endif
860  str = "With Alice Vision:";
861 #ifdef RTABMAP_ALICE_VISION
862  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
863 #else
864  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
865 #endif
866  str = "With LOAM:";
867 #ifdef RTABMAP_LOAM
868  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
869 #else
870  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
871 #endif
872  str = "With FLOAM:";
873 #ifdef RTABMAP_FLOAM
874  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
875 #else
876  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
877 #endif
878  str = "With FOVIS:";
879 #ifdef RTABMAP_FOVIS
880  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
881 #else
882  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
883 #endif
884  str = "With Viso2:";
885 #ifdef RTABMAP_VISO2
886  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
887 #else
888  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
889 #endif
890  str = "With DVO:";
891 #ifdef RTABMAP_DVO
892  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
893 #else
894  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
895 #endif
896 #if RTABMAP_ORB_SLAM == 3
897  str = "With ORB_SLAM3:";
898 #elif RTABMAP_ORB_SLAM == 2
899  str = "With ORB_SLAM2:";
900 #else
901  str = "With ORB_SLAM:";
902 #endif
903 #ifdef RTABMAP_ORB_SLAM
904  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
905 #else
906  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
907 #endif
908  str = "With OKVIS:";
909 #ifdef RTABMAP_OKVIS
910  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
911 #else
912  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
913 #endif
914  str = "With MSCKF_VIO:";
915 #ifdef RTABMAP_MSCKF_VIO
916  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
917 #else
918  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
919 #endif
920  str = "With VINS-Fusion:";
921 #ifdef RTABMAP_VINS
922  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
923 #else
924  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
925 #endif
926  str = "With OpenVINS:";
927 #ifdef RTABMAP_OPENVINS
928  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
929 #else
930  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
931 #endif
932  exit(0);
933  }
934  else if(strcmp(argv[i], "--nolog") == 0)
935  {
936  ULogger::setType(ULogger::kTypeNoLog);
937  }
938  else if(strcmp(argv[i], "--logconsole") == 0)
939  {
940  ULogger::setType(ULogger::kTypeConsole);
941  }
942  else if(strcmp(argv[i], "--logfile") == 0)
943  {
944  ++i;
945  if(i < argc)
946  {
947  ULogger::setType(ULogger::kTypeFile, argv[i], false);
948  }
949  else
950  {
951  UERROR("\"--logfile\" argument requires following file path");
952  }
953  }
954  else if(strcmp(argv[i], "--logfilea") == 0)
955  {
956  ++i;
957  if(i < argc)
958  {
959  ULogger::setType(ULogger::kTypeFile, argv[i], true);
960  }
961  else
962  {
963  UERROR("\"--logfilea\" argument requires following file path");
964  }
965  }
966  else if(strcmp(argv[i], "--udebug") == 0)
967  {
968  ULogger::setLevel(ULogger::kDebug);
969  }
970  else if(strcmp(argv[i], "--uinfo") == 0)
971  {
972  ULogger::setLevel(ULogger::kInfo);
973  }
974  else if(strcmp(argv[i], "--uwarn") == 0)
975  {
976  ULogger::setLevel(ULogger::kWarning);
977  }
978  else if(strcmp(argv[i], "--uerror") == 0)
979  {
980  ULogger::setLevel(ULogger::kError);
981  }
982  else if(strcmp(argv[i], "--ulogtime") == 0)
983  {
984  ++i;
985  if(i < argc)
986  {
987  ULogger::setPrintTime(uStr2Bool(argv[i]));
988  }
989  else
990  {
991  UERROR("\"--ulogtime\" argument requires a following boolean value");
992  }
993  }
994  else if(strcmp(argv[i], "--ulogwhere") == 0)
995  {
996  ++i;
997  if(i < argc)
998  {
999  ULogger::setPrintWhere(uStr2Bool(argv[i]));
1000  }
1001  else
1002  {
1003  UERROR("\"--ulogwhere\" argument requires a following boolean value");
1004  }
1005  }
1006  else if(strcmp(argv[i], "--ulogthread") == 0)
1007  {
1008  ++i;
1009  if(i < argc)
1010  {
1011  ULogger::setPrintThreadId(uStr2Bool(argv[i]));
1012  }
1013  else
1014  {
1015  UERROR("\"--ulogthread\" argument requires a following boolean value");
1016  }
1017  }
1018  else
1019  {
1020  checkParameters = true;
1021  }
1022  }
1023 
1024  if(checkParameters) // check for parameters
1025  {
1026  if(strcmp(argv[i], "--params") == 0)
1027  {
1028  if (i < argc - 1)
1029  {
1030  // If the last argument is a database, dump the parameters in INI format
1031  std::string dbName = argv[argc - 1];
1032  if (UFile::exists(dbName) && UFile::getExtension(dbName).compare("db") == 0)
1033  {
1034  DBDriver * driver = DBDriver::create();
1035  bool read = false;
1036  if (driver->openConnection(dbName))
1037  {
1038  ParametersMap dbParameters = driver->getLastParameters();
1039  if (!dbParameters.empty())
1040  {
1041  std::cout << "[Core]" << std::endl;
1042  std::cout << "Version = " << RTABMAP_VERSION << std::endl;
1043  for (ParametersMap::const_iterator iter = dbParameters.begin(); iter != dbParameters.end(); ++iter)
1044  {
1045  std::string key = iter->first;
1046  key = uReplaceChar(key, '/', '\\'); // Ini files use \ by default for separators, so replace the /
1047 
1048  std::string value = iter->second.c_str();
1049  value = uReplaceChar(value, '\\', '/'); // use always slash for values
1050 
1051  std::cout << key << " = " << value << std::endl;
1052  }
1053  read = true;
1054  }
1055  driver->closeConnection(false);
1056  }
1057  delete driver;
1058  if (read)
1059  {
1060  exit(0);
1061  }
1062  }
1063  }
1064 
1065  for(rtabmap::ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
1066  {
1067  bool ignore = false;
1068  UASSERT(uSplit(iter->first, '/').size() == 2);
1069  std::string group = uSplit(iter->first, '/').front();
1070 #ifndef RTABMAP_GTSAM
1071  if(group.compare("GTSAM") == 0)
1072  {
1073  ignore = true;
1074  }
1075 #endif
1076 #ifndef RTABMAP_G2O
1077  if(group.compare("g2o") == 0)
1078  {
1079  ignore = true;
1080  }
1081 #endif
1082 #ifndef RTABMAP_FOVIS
1083  if(group.compare("OdomFovis") == 0)
1084  {
1085  ignore = true;
1086  }
1087 #endif
1088 #ifndef RTABMAP_VISO2
1089  if(group.compare("OdomViso2") == 0)
1090  {
1091  ignore = true;
1092  }
1093 #endif
1094 #ifndef RTABMAP_ORBSLAM2
1095  if(group.compare("OdomORBSLAM2") == 0)
1096  {
1097  ignore = true;
1098  }
1099 #endif
1100 #ifndef RTABMAP_OKVIS
1101  if(group.compare("OdomOKVIS") == 0)
1102  {
1103  ignore = true;
1104  }
1105 #endif
1106 #if not defined(RTABMAP_LOAM) and not defined(RTABMAP_FLOAM)
1107  if(group.compare("OdomLOAM") == 0)
1108  {
1109  ignore = true;
1110  }
1111 #endif
1112 #ifndef RTABMAP_MSCKF_VIO
1113  if(group.compare("OdomMSCKF") == 0)
1114  {
1115  ignore = true;
1116  }
1117 #endif
1118  if(!ignore)
1119  {
1120  std::string str = "Param: " + iter->first + " = \"" + iter->second + "\"";
1121  std::cout <<
1122  str <<
1123  std::setw(60 - str.size()) <<
1124  " [" <<
1125  rtabmap::Parameters::getDescription(iter->first).c_str() <<
1126  "]" <<
1127  std::endl;
1128  }
1129  }
1130  exit(0);
1131  }
1132  else
1133  {
1134  std::string key = uReplaceChar(argv[i], '-', "");
1135  ParametersMap::const_iterator iter = parameters.find(key);
1136  if(iter != parameters.end())
1137  {
1138  ++i;
1139  if(i < argc)
1140  {
1141  uInsert(out, ParametersPair(iter->first, argv[i]));
1142  UINFO("Parsed parameter \"%s\"=\"%s\"", iter->first.c_str(), argv[i]);
1143  }
1144  }
1145  else
1146  {
1147  // backward compatibility
1148  std::map<std::string, std::pair<bool, std::string> >::const_iterator jter = removedParams.find(key);
1149  if(jter!=removedParams.end())
1150  {
1151  if(jter->second.first)
1152  {
1153  ++i;
1154  if(i < argc)
1155  {
1156  std::string value = argv[i];
1157  if(!value.empty())
1158  {
1159  value = uReplaceChar(value, ',', ' '); // for table
1160  key = jter->second.second;
1161  UWARN("Parameter migration from \"%s\" to \"%s\" (value=%s).",
1162  jter->first.c_str(), jter->second.second.c_str(), value.c_str());
1163  uInsert(out, ParametersPair(key, value));
1164  }
1165  }
1166  else
1167  {
1168  UERROR("Value missing for argument \"%s\"", argv[i-1]);
1169  }
1170  }
1171  else if(jter->second.second.empty())
1172  {
1173  UERROR("Parameter \"%s\" doesn't exist anymore.", jter->first.c_str());
1174  }
1175  else
1176  {
1177  UERROR("Parameter \"%s\" doesn't exist anymore, check this similar parameter \"%s\".", jter->first.c_str(), jter->second.second.c_str());
1178  }
1179  }
1180  }
1181  }
1182  }
1183  }
1184  return out;
1185 }
1186 
1187 void readINIImpl(const CSimpleIniA & ini, const std::string & configFilePath, ParametersMap & parameters, bool modifiedOnly)
1188 {
1189  const CSimpleIniA::TKeyVal * keyValMap = ini.GetSection("Core");
1190  if(keyValMap)
1191  {
1192  for(CSimpleIniA::TKeyVal::const_iterator iter=keyValMap->begin(); iter!=keyValMap->end(); ++iter)
1193  {
1194  std::string key = (*iter).first.pItem;
1195  if(key.compare("Version") == 0)
1196  {
1197  // Compare version in ini with the current RTAB-Map version
1198  std::vector<std::string> version = uListToVector(uSplit((*iter).second, '.'));
1199  if(version.size() == 3)
1200  {
1201  if(!RTABMAP_VERSION_COMPARE(std::atoi(version[0].c_str()), std::atoi(version[1].c_str()), std::atoi(version[2].c_str())))
1202  {
1203  if(configFilePath.find(".rtabmap") != std::string::npos)
1204  {
1205  UWARN("Version in the config file \"%s\" is more recent (\"%s\") than "
1206  "current RTAB-Map version used (\"%s\"). The config file will be upgraded "
1207  "to new version.",
1208  configFilePath.c_str(),
1209  (*iter).second,
1210  RTABMAP_VERSION);
1211  }
1212  else
1213  {
1214  UERROR("Version in the config file \"%s\" is more recent (\"%s\") than "
1215  "current RTAB-Map version used (\"%s\"). New parameters (if there are some) will "
1216  "be ignored.",
1217  configFilePath.c_str(),
1218  (*iter).second,
1219  RTABMAP_VERSION);
1220  }
1221  }
1222  }
1223  }
1224  else
1225  {
1226  key = uReplaceChar(key, '\\', '/'); // Ini files use \ by default for separators, so replace them
1227 
1228  // look for old parameter name
1229  std::map<std::string, std::pair<bool, std::string> >::const_iterator oldIter = Parameters::getRemovedParameters().find(key);
1230  if(oldIter!=Parameters::getRemovedParameters().end())
1231  {
1232  if(oldIter->second.first)
1233  {
1234  if(parameters.find(oldIter->second.second) == parameters.end())
1235  {
1236  key = oldIter->second.second;
1237  UINFO("Parameter migration from \"%s\" to \"%s\" (value=%s, default=%s).",
1238  oldIter->first.c_str(), oldIter->second.second.c_str(), iter->second, Parameters::getDefaultParameters().at(oldIter->second.second).c_str());
1239  }
1240  }
1241  else if(oldIter->second.second.empty())
1242  {
1243  UWARN("Parameter \"%s\" doesn't exist anymore.",
1244  oldIter->first.c_str());
1245  }
1246  else if(parameters.find(oldIter->second.second) == parameters.end())
1247  {
1248  UWARN("Parameter \"%s\" (value=%s) doesn't exist anymore, you may want to use this similar parameter \"%s (default=%s): %s\".",
1249  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());
1250  }
1251 
1252  }
1253 
1254  if(Parameters::getDefaultParameters().find(key) != Parameters::getDefaultParameters().end())
1255  {
1256  if(!modifiedOnly || std::string(iter->second).compare(Parameters::getDefaultParameters().find(key)->second) != 0)
1257  {
1258  uInsert(parameters, ParametersPair(key, iter->second));
1259  }
1260  }
1261  }
1262  }
1263  }
1264  else
1265  {
1266  ULOGGER_WARN("Section \"Core\" in %s doesn't exist... "
1267  "Ignore this warning if the ini file does not exist yet. "
1268  "The ini file will be automatically created when rtabmap will close.", configFilePath.c_str());
1269  }
1270 }
1271 
1272 
1273 void Parameters::readINI(const std::string & configFile, ParametersMap & parameters, bool modifiedOnly)
1274 {
1275  CSimpleIniA ini;
1276  ini.LoadFile(configFile.c_str());
1277  readINIImpl(ini, configFile, parameters, modifiedOnly);
1278 }
1279 
1280 void Parameters::readINIStr(const std::string & configContent, ParametersMap & parameters, bool modifiedOnly)
1281 {
1282  CSimpleIniA ini;
1283  ini.LoadData(configContent);
1284  readINIImpl(ini, "", parameters, modifiedOnly);
1285 }
1286 
1287 void Parameters::writeINI(const std::string & configFile, const ParametersMap & parameters)
1288 {
1289  CSimpleIniA ini;
1290  ini.LoadFile(configFile.c_str());
1291 
1292  // Save current version
1293  ini.SetValue("Core", "Version", RTABMAP_VERSION, NULL, true);
1294 
1295  for(ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
1296  {
1297  std::string key = iter->first;
1298  key = uReplaceChar(key, '/', '\\'); // Ini files use \ by default for separators, so replace the /
1299 
1300  std::string value = iter->second.c_str();
1301  value = uReplaceChar(value, '\\', '/'); // use always slash for values
1302 
1303  ini.SetValue("Core", key.c_str(), value.c_str(), NULL, true);
1304  }
1305 
1306  // Delete removed parameters
1307  if(parameters.size() == getDefaultParameters().size())
1308  {
1309  for(std::map<std::string, std::pair<bool, std::string> >::const_iterator iter = removedParameters_.begin();
1310  iter!=removedParameters_.end();
1311  ++iter)
1312  {
1313  std::string key = iter->first;
1314  key = uReplaceChar(key, '/', '\\'); // Ini files use \ by default for separators, so replace the /
1315 
1316  std::string value = ini.GetValue("Core", key.c_str(), "");
1317 
1318  if(ini.Delete("Core", key.c_str(), true))
1319  {
1320  if(iter->second.first && parameters.find(iter->second.second) != parameters.end())
1321  {
1322  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());
1323  }
1324  else
1325  {
1326  UWARN("Removed deprecated parameter %s=%s from \"%s\".", iter->first.c_str(), value.c_str(), configFile.c_str());
1327  }
1328  }
1329  }
1330  }
1331 
1332  ini.SaveFile(configFile.c_str());
1333 }
1334 
1335 }
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Definition: DBDriver.cpp:64
rtabmap::Parameters::deserialize
static ParametersMap deserialize(const std::string &parameters)
Definition: Parameters.cpp:109
rtabmap::Parameters::instance_
static Parameters instance_
Definition: Parameters.h:963
rtabmap::DBDriver::create
static DBDriver * create(const ParametersMap &parameters=ParametersMap())
Definition: DBDriver.cpp:41

rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jul 1 2024 02:42:32