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 & group, 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(group) == 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  // 0.20.15
240  removedParameters_.insert(std::make_pair("Grid/FromDepth", std::make_pair(true, Parameters::kGridSensor())));
241 
242  // 0.20.9
243  removedParameters_.insert(std::make_pair("OdomORBSLAM2/VocPath", std::make_pair(true, Parameters::kOdomORBSLAMVocPath())));
244  removedParameters_.insert(std::make_pair("OdomORBSLAM2/Bf", std::make_pair(true, Parameters::kOdomORBSLAMBf())));
245  removedParameters_.insert(std::make_pair("OdomORBSLAM2/ThDepth", std::make_pair(true, Parameters::kOdomORBSLAMThDepth())));
246  removedParameters_.insert(std::make_pair("OdomORBSLAM2/Fps", std::make_pair(true, Parameters::kOdomORBSLAMFps())));
247  removedParameters_.insert(std::make_pair("OdomORBSLAM2/MaxFeatures", std::make_pair(true, Parameters::kOdomORBSLAMMaxFeatures())));
248  removedParameters_.insert(std::make_pair("OdomORBSLAM2/MapSize", std::make_pair(true, Parameters::kOdomORBSLAMMapSize())));
249 
250  removedParameters_.insert(std::make_pair("RGBD/SavedLocalizationIgnored", std::make_pair(true, Parameters::kRGBDStartAtOrigin())));
251 
252  removedParameters_.insert(std::make_pair("Icp/PMForce4DoF", std::make_pair(true, Parameters::kIcpForce4DoF())));
253  removedParameters_.insert(std::make_pair("Icp/PM", std::make_pair(true, Parameters::kIcpStrategy()))); // convert "true" to "1"
254  removedParameters_.insert(std::make_pair("Icp/PMOutlierRatio", std::make_pair(true, Parameters::kIcpOutlierRatio())));
255 
256  // 0.20.
257  removedParameters_.insert(std::make_pair("SuperGlue/Path", std::make_pair(true, Parameters::kPyMatcherPath())));
258  removedParameters_.insert(std::make_pair("SuperGlue/Iterations", std::make_pair(true, Parameters::kPyMatcherIterations())));
259  removedParameters_.insert(std::make_pair("SuperGlue/MatchThreshold", std::make_pair(true, Parameters::kPyMatcherThreshold())));
260  removedParameters_.insert(std::make_pair("SuperGlue/Cuda", std::make_pair(true, Parameters::kPyMatcherCuda())));
261  removedParameters_.insert(std::make_pair("SuperGlue/Indoor", std::make_pair(false, Parameters::kPyMatcherModel())));
262 
263  removedParameters_.insert(std::make_pair("Vis/CorCrossCheck", std::make_pair(false, Parameters::kVisCorNNType())));
264  removedParameters_.insert(std::make_pair("SPTorch/ModelPath", std::make_pair(true, Parameters::kSuperPointModelPath())));
265  removedParameters_.insert(std::make_pair("SPTorch/Threshold", std::make_pair(true, Parameters::kSuperPointThreshold())));
266  removedParameters_.insert(std::make_pair("SPTorch/NMS", std::make_pair(true, Parameters::kSuperPointNMS())));
267  removedParameters_.insert(std::make_pair("SPTorch/MinDistance", std::make_pair(true, Parameters::kSuperPointNMSRadius())));
268  removedParameters_.insert(std::make_pair("SPTorch/Cuda", std::make_pair(true, Parameters::kSuperPointCuda())));
269 
270  // 0.19.4
271  removedParameters_.insert(std::make_pair("RGBD/MaxLocalizationDistance", std::make_pair(true, Parameters::kRGBDMaxLoopClosureDistance())));
272 
273  // 0.19.3
274  removedParameters_.insert(std::make_pair("Aruco/Dictionary", std::make_pair(true, Parameters::kMarkerDictionary())));
275  removedParameters_.insert(std::make_pair("Aruco/MarkerLength", std::make_pair(true, Parameters::kMarkerLength())));
276  removedParameters_.insert(std::make_pair("Aruco/MaxDepthError", std::make_pair(true, Parameters::kMarkerMaxDepthError())));
277  removedParameters_.insert(std::make_pair("Aruco/VarianceLinear", std::make_pair(true, Parameters::kMarkerVarianceLinear())));
278  removedParameters_.insert(std::make_pair("Aruco/VarianceAngular", std::make_pair(true, Parameters::kMarkerVarianceAngular())));
279  removedParameters_.insert(std::make_pair("Aruco/CornerRefinementMethod", std::make_pair(true, Parameters::kMarkerCornerRefinementMethod())));
280 
281  // 0.17.5
282  removedParameters_.insert(std::make_pair("Grid/OctoMapOccupancyThr", std::make_pair(true, Parameters::kGridGlobalOccupancyThr())));
283 
284  // 0.17.0
285  removedParameters_.insert(std::make_pair("Grid/Scan2dMaxFilledRange", std::make_pair(false, Parameters::kGridRangeMax())));
286 
287  // 0.16.0
288  removedParameters_.insert(std::make_pair("Grid/ProjRayTracing", std::make_pair(true, Parameters::kGridRayTracing())));
289  removedParameters_.insert(std::make_pair("Grid/DepthMin", std::make_pair(true, Parameters::kGridRangeMin())));
290  removedParameters_.insert(std::make_pair("Grid/DepthMax", std::make_pair(true, Parameters::kGridRangeMax())));
291 
292  // 0.15.1
293  removedParameters_.insert(std::make_pair("Reg/VarianceFromInliersCount", std::make_pair(false, "")));
294  removedParameters_.insert(std::make_pair("Reg/VarianceNormalized", std::make_pair(false, "")));
295 
296  // 0.13.3
297  removedParameters_.insert(std::make_pair("Icp/PointToPlaneNormalNeighbors", std::make_pair(true, Parameters::kIcpPointToPlaneK())));
298 
299 
300  // 0.13.1
301  removedParameters_.insert(std::make_pair("Rtabmap/VhStrategy", std::make_pair(true, Parameters::kVhEpEnabled())));
302 
303  // 0.12.5
304  removedParameters_.insert(std::make_pair("Grid/FullUpdate", std::make_pair(true, Parameters::kGridGlobalFullUpdate())));
305 
306  // 0.12.1
307  removedParameters_.insert(std::make_pair("Grid/3DGroundIsObstacle", std::make_pair(true, Parameters::kGridGroundIsObstacle())));
308 
309  // 0.11.12
310  removedParameters_.insert(std::make_pair("Optimizer/Slam2D", std::make_pair(true, Parameters::kRegForce3DoF())));
311  removedParameters_.insert(std::make_pair("OdomF2M/FixedMapPath", std::make_pair(false, "")));
312 
313  // 0.11.10 typos
314  removedParameters_.insert(std::make_pair("Grid/FlatObstaclesDetected", std::make_pair(true, Parameters::kGridFlatObstacleDetected())));
315 
316  // 0.11.8
317  removedParameters_.insert(std::make_pair("Reg/Force2D", std::make_pair(true, Parameters::kRegForce3DoF())));
318  removedParameters_.insert(std::make_pair("OdomF2M/ScanSubstractRadius", std::make_pair(true, Parameters::kOdomF2MScanSubtractRadius())));
319 
320  // 0.11.6
321  removedParameters_.insert(std::make_pair("RGBD/ProximityPathScansMerged", std::make_pair(false, "")));
322 
323  // 0.11.3
324  removedParameters_.insert(std::make_pair("Mem/ImageDecimation", std::make_pair(true, Parameters::kMemImagePostDecimation())));
325 
326  // 0.11.2
327  removedParameters_.insert(std::make_pair("OdomLocalMap/HistorySize", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
328  removedParameters_.insert(std::make_pair("OdomLocalMap/FixedMapPath", std::make_pair(false, "")));
329  removedParameters_.insert(std::make_pair("OdomF2F/GuessMotion", std::make_pair(true, Parameters::kOdomGuessMotion())));
330  removedParameters_.insert(std::make_pair("OdomF2F/KeyFrameThr", std::make_pair(false, Parameters::kOdomKeyFrameThr())));
331 
332  // 0.11.0
333  removedParameters_.insert(std::make_pair("OdomBow/LocalHistorySize", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
334  removedParameters_.insert(std::make_pair("OdomBow/FixedLocalMapPath", std::make_pair(false, "")));
335  removedParameters_.insert(std::make_pair("OdomFlow/KeyFrameThr", std::make_pair(false, Parameters::kOdomKeyFrameThr())));
336  removedParameters_.insert(std::make_pair("OdomFlow/GuessMotion", std::make_pair(true, Parameters::kOdomGuessMotion())));
337 
338  removedParameters_.insert(std::make_pair("Kp/WordsPerImage", std::make_pair(true, Parameters::kKpMaxFeatures())));
339 
340  removedParameters_.insert(std::make_pair("Mem/LocalSpaceLinksKeptInWM", std::make_pair(false, "")));
341 
342  removedParameters_.insert(std::make_pair("RGBD/PoseScanMatching", std::make_pair(true, Parameters::kRGBDNeighborLinkRefining())));
343 
344  removedParameters_.insert(std::make_pair("Odom/ParticleFiltering", std::make_pair(false, Parameters::kOdomFilteringStrategy())));
345  removedParameters_.insert(std::make_pair("Odom/FeatureType", std::make_pair(true, Parameters::kVisFeatureType())));
346  removedParameters_.insert(std::make_pair("Odom/EstimationType", std::make_pair(true, Parameters::kVisEstimationType())));
347  removedParameters_.insert(std::make_pair("Odom/MaxFeatures", std::make_pair(true, Parameters::kVisMaxFeatures())));
348  removedParameters_.insert(std::make_pair("Odom/InlierDistance", std::make_pair(true, Parameters::kVisInlierDistance())));
349  removedParameters_.insert(std::make_pair("Odom/MinInliers", std::make_pair(true, Parameters::kVisMinInliers())));
350  removedParameters_.insert(std::make_pair("Odom/Iterations", std::make_pair(true, Parameters::kVisIterations())));
351  removedParameters_.insert(std::make_pair("Odom/RefineIterations", std::make_pair(true, Parameters::kVisRefineIterations())));
352  removedParameters_.insert(std::make_pair("Odom/MaxDepth", std::make_pair(true, Parameters::kVisMaxDepth())));
353  removedParameters_.insert(std::make_pair("Odom/RoiRatios", std::make_pair(true, Parameters::kVisRoiRatios())));
354  removedParameters_.insert(std::make_pair("Odom/Force2D", std::make_pair(true, Parameters::kRegForce3DoF())));
355  removedParameters_.insert(std::make_pair("Odom/VarianceFromInliersCount", std::make_pair(false, "")));
356  removedParameters_.insert(std::make_pair("Odom/PnPReprojError", std::make_pair(true, Parameters::kVisPnPReprojError())));
357  removedParameters_.insert(std::make_pair("Odom/PnPFlags", std::make_pair(true, Parameters::kVisPnPFlags())));
358 
359  removedParameters_.insert(std::make_pair("OdomBow/NNType", std::make_pair(true, Parameters::kVisCorNNType())));
360  removedParameters_.insert(std::make_pair("OdomBow/NNDR", std::make_pair(true, Parameters::kVisCorNNDR())));
361 
362  removedParameters_.insert(std::make_pair("OdomFlow/WinSize", std::make_pair(true, Parameters::kVisCorFlowWinSize())));
363  removedParameters_.insert(std::make_pair("OdomFlow/Iterations", std::make_pair(true, Parameters::kVisCorFlowIterations())));
364  removedParameters_.insert(std::make_pair("OdomFlow/Eps", std::make_pair(true, Parameters::kVisCorFlowEps())));
365  removedParameters_.insert(std::make_pair("OdomFlow/MaxLevel", std::make_pair(true, Parameters::kVisCorFlowMaxLevel())));
366 
367  removedParameters_.insert(std::make_pair("OdomSubPix/WinSize", std::make_pair(true, Parameters::kVisSubPixWinSize())));
368  removedParameters_.insert(std::make_pair("OdomSubPix/Iterations", std::make_pair(true, Parameters::kVisSubPixIterations())));
369  removedParameters_.insert(std::make_pair("OdomSubPix/Eps", std::make_pair(true, Parameters::kVisSubPixEps())));
370 
371  removedParameters_.insert(std::make_pair("LccReextract/Activated", std::make_pair(true, Parameters::kRGBDLoopClosureReextractFeatures())));
372  removedParameters_.insert(std::make_pair("LccReextract/FeatureType", std::make_pair(false, Parameters::kVisFeatureType())));
373  removedParameters_.insert(std::make_pair("LccReextract/MaxWords", std::make_pair(false, Parameters::kVisMaxFeatures())));
374  removedParameters_.insert(std::make_pair("LccReextract/MaxDepth", std::make_pair(false, Parameters::kVisMaxDepth())));
375  removedParameters_.insert(std::make_pair("LccReextract/RoiRatios", std::make_pair(false, Parameters::kVisRoiRatios())));
376  removedParameters_.insert(std::make_pair("LccReextract/NNType", std::make_pair(false, Parameters::kVisCorNNType())));
377  removedParameters_.insert(std::make_pair("LccReextract/NNDR", std::make_pair(false, Parameters::kVisCorNNDR())));
378 
379  removedParameters_.insert(std::make_pair("LccBow/EstimationType", std::make_pair(false, Parameters::kVisEstimationType())));
380  removedParameters_.insert(std::make_pair("LccBow/InlierDistance", std::make_pair(false, Parameters::kVisInlierDistance())));
381  removedParameters_.insert(std::make_pair("LccBow/MinInliers", std::make_pair(false, Parameters::kVisMinInliers())));
382  removedParameters_.insert(std::make_pair("LccBow/Iterations", std::make_pair(false, Parameters::kVisIterations())));
383  removedParameters_.insert(std::make_pair("LccBow/RefineIterations", std::make_pair(false, Parameters::kVisRefineIterations())));
384  removedParameters_.insert(std::make_pair("LccBow/Force2D", std::make_pair(false, Parameters::kRegForce3DoF())));
385  removedParameters_.insert(std::make_pair("LccBow/VarianceFromInliersCount", std::make_pair(false, "")));
386  removedParameters_.insert(std::make_pair("LccBow/PnPReprojError", std::make_pair(false, Parameters::kVisPnPReprojError())));
387  removedParameters_.insert(std::make_pair("LccBow/PnPFlags", std::make_pair(false, Parameters::kVisPnPFlags())));
388  removedParameters_.insert(std::make_pair("LccBow/EpipolarGeometryVar", std::make_pair(true, Parameters::kVisEpipolarGeometryVar())));
389 
390  removedParameters_.insert(std::make_pair("LccIcp/Type", std::make_pair(false, Parameters::kRegStrategy())));
391 
392  removedParameters_.insert(std::make_pair("LccIcp3/Decimation", std::make_pair(false, "")));
393  removedParameters_.insert(std::make_pair("LccIcp3/MaxDepth", std::make_pair(false, "")));
394  removedParameters_.insert(std::make_pair("LccIcp3/VoxelSize", std::make_pair(false, Parameters::kIcpVoxelSize())));
395  removedParameters_.insert(std::make_pair("LccIcp3/Samples", std::make_pair(false, Parameters::kIcpDownsamplingStep())));
396  removedParameters_.insert(std::make_pair("LccIcp3/MaxCorrespondenceDistance", std::make_pair(false, Parameters::kIcpMaxCorrespondenceDistance())));
397  removedParameters_.insert(std::make_pair("LccIcp3/Iterations", std::make_pair(false, Parameters::kIcpIterations())));
398  removedParameters_.insert(std::make_pair("LccIcp3/CorrespondenceRatio", std::make_pair(false, Parameters::kIcpCorrespondenceRatio())));
399  removedParameters_.insert(std::make_pair("LccIcp3/PointToPlane", std::make_pair(true, Parameters::kIcpPointToPlane())));
400  removedParameters_.insert(std::make_pair("LccIcp3/PointToPlaneNormalNeighbors", std::make_pair(true, Parameters::kIcpPointToPlaneK())));
401 
402  removedParameters_.insert(std::make_pair("LccIcp2/MaxCorrespondenceDistance", std::make_pair(true, Parameters::kIcpMaxCorrespondenceDistance())));
403  removedParameters_.insert(std::make_pair("LccIcp2/Iterations", std::make_pair(true, Parameters::kIcpIterations())));
404  removedParameters_.insert(std::make_pair("LccIcp2/CorrespondenceRatio", std::make_pair(true, Parameters::kIcpCorrespondenceRatio())));
405  removedParameters_.insert(std::make_pair("LccIcp2/VoxelSize", std::make_pair(true, Parameters::kIcpVoxelSize())));
406 
407  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionByTime", std::make_pair(true, Parameters::kRGBDProximityByTime())));
408  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionBySpace", std::make_pair(true, Parameters::kRGBDProximityBySpace())));
409  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionTime", std::make_pair(true, Parameters::kRGBDProximityByTime())));
410  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionSpace", std::make_pair(true, Parameters::kRGBDProximityBySpace())));
411  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathScansMerged", std::make_pair(false, "")));
412  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxGraphDepth", std::make_pair(true, Parameters::kRGBDProximityMaxGraphDepth())));
413  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathFilteringRadius", std::make_pair(true, Parameters::kRGBDProximityPathFilteringRadius())));
414  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathRawPosesUsed", std::make_pair(true, Parameters::kRGBDProximityPathRawPosesUsed())));
415 
416  removedParameters_.insert(std::make_pair("RGBD/OptimizeStrategy", std::make_pair(true, Parameters::kOptimizerStrategy())));
417  removedParameters_.insert(std::make_pair("RGBD/OptimizeEpsilon", std::make_pair(true, Parameters::kOptimizerEpsilon())));
418  removedParameters_.insert(std::make_pair("RGBD/OptimizeIterations", std::make_pair(true, Parameters::kOptimizerIterations())));
419  removedParameters_.insert(std::make_pair("RGBD/OptimizeRobust", std::make_pair(true, Parameters::kOptimizerRobust())));
420  removedParameters_.insert(std::make_pair("RGBD/OptimizeSlam2D", std::make_pair(true, Parameters::kRegForce3DoF())));
421  removedParameters_.insert(std::make_pair("RGBD/OptimizeSlam2d", std::make_pair(true, Parameters::kRegForce3DoF())));
422  removedParameters_.insert(std::make_pair("RGBD/OptimizeVarianceIgnored", std::make_pair(true, Parameters::kOptimizerVarianceIgnored())));
423 
424  removedParameters_.insert(std::make_pair("Stereo/WinSize", std::make_pair(true, Parameters::kStereoWinWidth())));
425 
426  // before 0.11.0
427  removedParameters_.insert(std::make_pair("GFTT/MaxCorners", std::make_pair(true, Parameters::kVisMaxFeatures())));
428  removedParameters_.insert(std::make_pair("LccBow/MaxDepth", std::make_pair(true, Parameters::kVisMaxDepth())));
429  removedParameters_.insert(std::make_pair("LccReextract/LoopClosureFeatures", std::make_pair(true, Parameters::kRGBDLoopClosureReextractFeatures())));
430  removedParameters_.insert(std::make_pair("Rtabmap/DetectorStrategy", std::make_pair(true, Parameters::kKpDetectorStrategy())));
431  removedParameters_.insert(std::make_pair("RGBD/ScanMatchingSize", std::make_pair(true, Parameters::kRGBDNeighborLinkRefining())));
432  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionRadius", std::make_pair(true, Parameters::kRGBDLocalRadius())));
433  removedParameters_.insert(std::make_pair("RGBD/ToroIterations", std::make_pair(true, Parameters::kOptimizerIterations())));
434  removedParameters_.insert(std::make_pair("Mem/RehearsedNodesKept", std::make_pair(true, Parameters::kMemNotLinkedNodesKept())));
435  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxDiffID", std::make_pair(true, Parameters::kRGBDProximityMaxGraphDepth())));
436  removedParameters_.insert(std::make_pair("RGBD/PlanVirtualLinksMaxDiffID", std::make_pair(false, "")));
437  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxDiffID", std::make_pair(false, "")));
438  removedParameters_.insert(std::make_pair("Odom/Type", std::make_pair(true, Parameters::kVisFeatureType())));
439  removedParameters_.insert(std::make_pair("Odom/MaxWords", std::make_pair(true, Parameters::kVisMaxFeatures())));
440  removedParameters_.insert(std::make_pair("Odom/LocalHistory", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
441  removedParameters_.insert(std::make_pair("Odom/NearestNeighbor", std::make_pair(true, Parameters::kVisCorNNType())));
442  removedParameters_.insert(std::make_pair("Odom/NNDR", std::make_pair(true, Parameters::kVisCorNNDR())));
443  }
444  return removedParameters_;
445 }
446 
447 const ParametersMap & Parameters::getBackwardCompatibilityMap()
448 {
449  if(backwardCompatibilityMap_.empty())
450  {
451  getRemovedParameters(); // make sure removedParameters is filled
452 
453  // compatibility
454  for(std::map<std::string, std::pair<bool, std::string> >::iterator iter=removedParameters_.begin();
455  iter!=removedParameters_.end();
456  ++iter)
457  {
458  if(iter->second.first)
459  {
460  backwardCompatibilityMap_.insert(ParametersPair(iter->second.second, iter->first));
461  }
462  }
463  }
464  return backwardCompatibilityMap_;
465 }
466 
467 std::string Parameters::getType(const std::string & paramKey)
468 {
469  std::string type;
470  ParametersMap::iterator iter = parametersType_.find(paramKey);
471  if(iter != parametersType_.end())
472  {
473  type = iter->second;
474  }
475  else
476  {
477  UERROR("Parameters \"%s\" doesn't exist!", paramKey.c_str());
478  }
479  return type;
480 }
481 
482 std::string Parameters::getDescription(const std::string & paramKey)
483 {
484  std::string description;
485  ParametersMap::iterator iter = descriptions_.find(paramKey);
486  if(iter != descriptions_.end())
487  {
488  description = iter->second;
489  }
490  else
491  {
492  UERROR("Parameters \"%s\" doesn't exist!", paramKey.c_str());
493  }
494  return description;
495 }
496 
497 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, bool & value)
498 {
499  ParametersMap::const_iterator iter = parameters.find(key);
500  if(iter != parameters.end())
501  {
502  value = uStr2Bool(iter->second.c_str());
503  return true;
504  }
505  return false;
506 }
507 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, int & value)
508 {
509  ParametersMap::const_iterator iter = parameters.find(key);
510  if(iter != parameters.end())
511  {
512  value = uStr2Int(iter->second.c_str());
513  return true;
514  }
515  return false;
516 }
517 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, unsigned int & value)
518 {
519  ParametersMap::const_iterator iter = parameters.find(key);
520  if(iter != parameters.end())
521  {
522  value = uStr2Int(iter->second.c_str());
523  return true;
524  }
525  return false;
526 }
527 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, float & value)
528 {
529  ParametersMap::const_iterator iter = parameters.find(key);
530  if(iter != parameters.end())
531  {
532  value = uStr2Float(iter->second);
533  return true;
534  }
535  return false;
536 }
537 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, double & value)
538 {
539  ParametersMap::const_iterator iter = parameters.find(key);
540  if(iter != parameters.end())
541  {
542  value = uStr2Double(iter->second);
543  return true;
544  }
545  return false;
546 }
547 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, std::string & value)
548 {
549  ParametersMap::const_iterator iter = parameters.find(key);
550  if(iter != parameters.end())
551  {
552  value = iter->second;
553  return true;
554  }
555  return false;
556 }
557 void Parameters::parse(const ParametersMap & parameters, ParametersMap & parametersOut)
558 {
559  for(ParametersMap::iterator iter=parametersOut.begin(); iter!=parametersOut.end(); ++iter)
560  {
561  ParametersMap::const_iterator jter = parameters.find(iter->first);
562  if(jter != parameters.end())
563  {
564  iter->second = jter->second;
565  }
566  }
567 }
568 
569 const char * Parameters::showUsage()
570 {
571  return "RTAB-Map options:\n"
572  " --help Show usage.\n"
573  " --version Show version of rtabmap and its dependencies.\n"
574  " --params Show all parameters with their default value and description. \n"
575  " If a database path is set as last argument, the parameters in the \n"
576  " database will be shown in INI format.\n"
577  " --\"parameter name\" \"value\" Overwrite a specific RTAB-Map's parameter :\n"
578  " --SURF/HessianThreshold 150\n"
579  " For parameters in table format, add ',' between values :\n"
580  " --Kp/RoiRatios 0,0,0.1,0\n"
581  "Logger options:\n"
582  " --nolog Disable logger\n"
583  " --logconsole Set logger console type\n"
584  " --logfile \"path\" Set logger file type\n"
585  " --logfilea \"path\" Set logger file type with appending mode if the file already exists\n"
586  " --udebug Set logger level to debug\n"
587  " --uinfo Set logger level to info\n"
588  " --uwarn Set logger level to warn\n"
589  " --uerror Set logger level to error\n"
590  " --logtime \"bool\" Print time when logging\n"
591  " --logwhere \"bool\" Print where when logging\n"
592  " --logthread \"bool\" Print thread id when logging\n"
593  ;
594 }
595 
596 ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParameters)
597 {
598  ParametersMap out;
599  const ParametersMap & parameters = getDefaultParameters();
600  const std::map<std::string, std::pair<bool, std::string> > & removedParams = getRemovedParameters();
601  for(int i=0;i<argc;++i)
602  {
603  bool checkParameters = onlyParameters;
604  if(!checkParameters)
605  {
606  if(strcmp(argv[i], "--help") == 0)
607  {
608  std::cout << showUsage() << std::endl;
609  exit(0);
610  }
611  else if(strcmp(argv[i], "--version") == 0)
612  {
613  std::string str = "RTAB-Map:";
614 
615  int spacing = 30;
616  std::cout << str << std::setw(spacing - str.size()) << RTABMAP_VERSION << std::endl;
617  str = "PCL:";
618  std::cout << str << std::setw(spacing - str.size()) << PCL_VERSION_PRETTY << std::endl;
619  str = "With VTK:";
620 #ifndef DISABLE_VTK
621  std::cout << str << std::setw(spacing - str.size()) << vtkVersion::GetVTKVersion() << std::endl;
622 #else
623  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
624 #endif
625  str = "OpenCV:";
626  std::cout << str << std::setw(spacing - str.size()) << CV_VERSION << std::endl;
627 #if CV_MAJOR_VERSION >= 3
628  str = "With OpenCV xfeatures2d:";
629 #ifdef HAVE_OPENCV_XFEATURES2D
630  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
631 #else
632  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
633 #endif
634 #endif
635  str = "With OpenCV nonfree:";
636 #ifdef RTABMAP_NONFREE
637  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
638 #else
639  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
640 #endif
641  str = "With ORB OcTree:";
642 #ifdef RTABMAP_ORB_OCTREE
643  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
644 #else
645  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
646 #endif
647  str = "With SuperPoint Torch:";
648 #ifdef RTABMAP_TORCH
649  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
650 #else
651  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
652 #endif
653  str = "With Python3:";
654 #ifdef RTABMAP_PYTHON
655  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
656 #else
657  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
658 #endif
659  str = "With FastCV:";
660 #ifdef RTABMAP_FASTCV
661  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
662 #else
663  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
664 #endif
665  str = "With OpenGV:";
666 #ifdef RTABMAP_OPENGV
667  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
668 #else
669  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
670 #endif
671  str = "With Madgwick:";
672 #ifdef RTABMAP_MADGWICK
673  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
674 #else
675  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
676 #endif
677  str = "With PDAL:";
678 #ifdef RTABMAP_PDAL
679  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
680 #else
681  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
682 #endif
683  str = "With TORO:";
684 #ifdef RTABMAP_TORO
685  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
686 #else
687  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
688 #endif
689  str = "With g2o:";
690 #ifdef RTABMAP_G2O
691  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
692 #else
693  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
694 #endif
695  str = "With GTSAM:";
696 #ifdef RTABMAP_GTSAM
697  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
698 #else
699  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
700 #endif
701  str = "With Vertigo:";
702 #ifdef RTABMAP_VERTIGO
703  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
704 #else
705  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
706 #endif
707  str = "With CVSBA:";
708 #ifdef RTABMAP_CVSBA
709  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
710 #else
711  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
712 #endif
713  str = "With Ceres:";
714 #ifdef RTABMAP_CERES
715  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
716 #else
717  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
718 #endif
719  str = "With OpenNI2:";
720 #ifdef RTABMAP_OPENNI2
721  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
722 #else
723  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
724 #endif
725  str = "With Freenect:";
726 #ifdef RTABMAP_FREENECT
727  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
728 #else
729  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
730 #endif
731  str = "With Freenect2:";
732 #ifdef RTABMAP_FREENECT2
733  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
734 #else
735  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
736 #endif
737  str = "With K4W2:";
738 #ifdef RTABMAP_K4W2
739  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
740 #else
741  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
742 #endif
743  str = "With K4A:";
744 #ifdef RTABMAP_K4A
745  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
746 #else
747  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
748 #endif
749  str = "With DC1394:";
750 #ifdef RTABMAP_DC1394
751  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
752 #else
753  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
754 #endif
755  str = "With FlyCapture2:";
756 #ifdef RTABMAP_FLYCAPTURE2
757  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
758 #else
759  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
760 #endif
761  str = "With ZED:";
762 #ifdef RTABMAP_ZED
763  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
764 #else
765  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
766 #endif
767  str = "With ZED Open Capture:";
768 #ifdef RTABMAP_ZEDOC
769  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
770 #else
771  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
772 #endif
773  str = "With RealSense:";
774 #ifdef RTABMAP_REALSENSE
775  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
776 #else
777  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
778 #endif
779  str = "With RealSense SLAM:";
780 #ifdef RTABMAP_REALSENSE_SLAM
781  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
782 #else
783  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
784 #endif
785  str = "With RealSense2:";
786 #ifdef RTABMAP_REALSENSE2
787  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
788 #else
789  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
790 #endif
791  str = "With MYNT EYE S:";
792 #ifdef RTABMAP_MYNTEYE
793  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
794 #else
795  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
796 #endif
797  str = "With DepthAI:";
798 #ifdef RTABMAP_DEPTHAI
799  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
800 #else
801  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
802 #endif
803  str = "With libpointmatcher:";
804 #ifdef RTABMAP_POINTMATCHER
805  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
806 #else
807  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
808 #endif
809  str = "With CCCoreLib:";
810 #ifdef RTABMAP_CCCORELIB
811  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
812 #else
813  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
814 #endif
815  str = "With octomap:";
816 #ifdef RTABMAP_OCTOMAP
817  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
818 #else
819  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
820 #endif
821  str = "With cpu-tsdf:";
822 #ifdef RTABMAP_CPUTSDF
823  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
824 #else
825  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
826 #endif
827  str = "With open chisel:";
828 #ifdef RTABMAP_OPENCHISEL
829  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
830 #else
831  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
832 #endif
833  str = "With Alice Vision:";
834 #ifdef RTABMAP_ALICE_VISION
835  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
836 #else
837  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
838 #endif
839  str = "With LOAM:";
840 #ifdef RTABMAP_LOAM
841  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
842 #else
843  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
844 #endif
845  str = "With FLOAM:";
846 #ifdef RTABMAP_FLOAM
847  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
848 #else
849  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
850 #endif
851  str = "With FOVIS:";
852 #ifdef RTABMAP_FOVIS
853  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
854 #else
855  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
856 #endif
857  str = "With Viso2:";
858 #ifdef RTABMAP_VISO2
859  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
860 #else
861  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
862 #endif
863  str = "With DVO:";
864 #ifdef RTABMAP_DVO
865  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
866 #else
867  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
868 #endif
869 #if RTABMAP_ORB_SLAM == 3
870  str = "With ORB_SLAM3:";
871 #elif RTABMAP_ORB_SLAM == 2
872  str = "With ORB_SLAM2:";
873 #else
874  str = "With ORB_SLAM:";
875 #endif
876 #ifdef RTABMAP_ORB_SLAM
877  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
878 #else
879  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
880 #endif
881  str = "With OKVIS:";
882 #ifdef RTABMAP_OKVIS
883  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
884 #else
885  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
886 #endif
887  str = "With MSCKF_VIO:";
888 #ifdef RTABMAP_MSCKF_VIO
889  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
890 #else
891  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
892 #endif
893  str = "With VINS-Fusion:";
894 #ifdef RTABMAP_VINS
895  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
896 #else
897  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
898 #endif
899  str = "With OpenVINS:";
900 #ifdef RTABMAP_OPENVINS
901  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
902 #else
903  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
904 #endif
905  exit(0);
906  }
907  else if(strcmp(argv[i], "--nolog") == 0)
908  {
909  ULogger::setType(ULogger::kTypeNoLog);
910  }
911  else if(strcmp(argv[i], "--logconsole") == 0)
912  {
913  ULogger::setType(ULogger::kTypeConsole);
914  }
915  else if(strcmp(argv[i], "--logfile") == 0)
916  {
917  ++i;
918  if(i < argc)
919  {
920  ULogger::setType(ULogger::kTypeFile, argv[i], false);
921  }
922  else
923  {
924  UERROR("\"--logfile\" argument requires following file path");
925  }
926  }
927  else if(strcmp(argv[i], "--logfilea") == 0)
928  {
929  ++i;
930  if(i < argc)
931  {
932  ULogger::setType(ULogger::kTypeFile, argv[i], true);
933  }
934  else
935  {
936  UERROR("\"--logfilea\" argument requires following file path");
937  }
938  }
939  else if(strcmp(argv[i], "--udebug") == 0)
940  {
941  ULogger::setLevel(ULogger::kDebug);
942  }
943  else if(strcmp(argv[i], "--uinfo") == 0)
944  {
945  ULogger::setLevel(ULogger::kInfo);
946  }
947  else if(strcmp(argv[i], "--uwarn") == 0)
948  {
949  ULogger::setLevel(ULogger::kWarning);
950  }
951  else if(strcmp(argv[i], "--uerror") == 0)
952  {
953  ULogger::setLevel(ULogger::kError);
954  }
955  else if(strcmp(argv[i], "--ulogtime") == 0)
956  {
957  ++i;
958  if(i < argc)
959  {
960  ULogger::setPrintTime(uStr2Bool(argv[i]));
961  }
962  else
963  {
964  UERROR("\"--ulogtime\" argument requires a following boolean value");
965  }
966  }
967  else if(strcmp(argv[i], "--ulogwhere") == 0)
968  {
969  ++i;
970  if(i < argc)
971  {
972  ULogger::setPrintWhere(uStr2Bool(argv[i]));
973  }
974  else
975  {
976  UERROR("\"--ulogwhere\" argument requires a following boolean value");
977  }
978  }
979  else if(strcmp(argv[i], "--ulogthread") == 0)
980  {
981  ++i;
982  if(i < argc)
983  {
984  ULogger::setPrintThreadId(uStr2Bool(argv[i]));
985  }
986  else
987  {
988  UERROR("\"--ulogthread\" argument requires a following boolean value");
989  }
990  }
991  else
992  {
993  checkParameters = true;
994  }
995  }
996 
997  if(checkParameters) // check for parameters
998  {
999  if(strcmp(argv[i], "--params") == 0)
1000  {
1001  if (i < argc - 1)
1002  {
1003  // If the last argument is a database, dump the parameters in INI format
1004  std::string dbName = argv[argc - 1];
1005  if (UFile::exists(dbName) && UFile::getExtension(dbName).compare("db") == 0)
1006  {
1007  DBDriver * driver = DBDriver::create();
1008  bool read = false;
1009  if (driver->openConnection(dbName))
1010  {
1011  ParametersMap dbParameters = driver->getLastParameters();
1012  if (!dbParameters.empty())
1013  {
1014  std::cout << "[Core]" << std::endl;
1015  std::cout << "Version = " << RTABMAP_VERSION << std::endl;
1016  for (ParametersMap::const_iterator iter = dbParameters.begin(); iter != dbParameters.end(); ++iter)
1017  {
1018  std::string key = iter->first;
1019  key = uReplaceChar(key, '/', '\\'); // Ini files use \ by default for separators, so replace the /
1020 
1021  std::string value = iter->second.c_str();
1022  value = uReplaceChar(value, '\\', '/'); // use always slash for values
1023 
1024  std::cout << key << " = " << value << std::endl;
1025  }
1026  read = true;
1027  }
1028  driver->closeConnection(false);
1029  }
1030  delete driver;
1031  if (read)
1032  {
1033  exit(0);
1034  }
1035  }
1036  }
1037 
1038  for(rtabmap::ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
1039  {
1040  bool ignore = false;
1041  UASSERT(uSplit(iter->first, '/').size() == 2);
1042  std::string group = uSplit(iter->first, '/').front();
1043 #ifndef RTABMAP_GTSAM
1044  if(group.compare("GTSAM") == 0)
1045  {
1046  ignore = true;
1047  }
1048 #endif
1049 #ifndef RTABMAP_G2O
1050  if(group.compare("g2o") == 0)
1051  {
1052  ignore = true;
1053  }
1054 #endif
1055 #ifndef RTABMAP_FOVIS
1056  if(group.compare("OdomFovis") == 0)
1057  {
1058  ignore = true;
1059  }
1060 #endif
1061 #ifndef RTABMAP_VISO2
1062  if(group.compare("OdomViso2") == 0)
1063  {
1064  ignore = true;
1065  }
1066 #endif
1067 #ifndef RTABMAP_ORBSLAM2
1068  if(group.compare("OdomORBSLAM2") == 0)
1069  {
1070  ignore = true;
1071  }
1072 #endif
1073 #ifndef RTABMAP_OKVIS
1074  if(group.compare("OdomOKVIS") == 0)
1075  {
1076  ignore = true;
1077  }
1078 #endif
1079 #if not defined(RTABMAP_LOAM) and not defined(RTABMAP_FLOAM)
1080  if(group.compare("OdomLOAM") == 0)
1081  {
1082  ignore = true;
1083  }
1084 #endif
1085 #ifndef RTABMAP_MSCKF_VIO
1086  if(group.compare("OdomMSCKF") == 0)
1087  {
1088  ignore = true;
1089  }
1090 #endif
1091  if(!ignore)
1092  {
1093  std::string str = "Param: " + iter->first + " = \"" + iter->second + "\"";
1094  std::cout <<
1095  str <<
1096  std::setw(60 - str.size()) <<
1097  " [" <<
1098  rtabmap::Parameters::getDescription(iter->first).c_str() <<
1099  "]" <<
1100  std::endl;
1101  }
1102  }
1103  exit(0);
1104  }
1105  else
1106  {
1107  std::string key = uReplaceChar(argv[i], '-', "");
1108  ParametersMap::const_iterator iter = parameters.find(key);
1109  if(iter != parameters.end())
1110  {
1111  ++i;
1112  if(i < argc)
1113  {
1114  uInsert(out, ParametersPair(iter->first, argv[i]));
1115  UINFO("Parsed parameter \"%s\"=\"%s\"", iter->first.c_str(), argv[i]);
1116  }
1117  }
1118  else
1119  {
1120  // backward compatibility
1121  std::map<std::string, std::pair<bool, std::string> >::const_iterator jter = removedParams.find(key);
1122  if(jter!=removedParams.end())
1123  {
1124  if(jter->second.first)
1125  {
1126  ++i;
1127  if(i < argc)
1128  {
1129  std::string value = argv[i];
1130  if(!value.empty())
1131  {
1132  value = uReplaceChar(value, ',', ' '); // for table
1133  key = jter->second.second;
1134  UWARN("Parameter migration from \"%s\" to \"%s\" (value=%s).",
1135  jter->first.c_str(), jter->second.second.c_str(), value.c_str());
1136  uInsert(out, ParametersPair(key, value));
1137  }
1138  }
1139  else
1140  {
1141  UERROR("Value missing for argument \"%s\"", argv[i-1]);
1142  }
1143  }
1144  else if(jter->second.second.empty())
1145  {
1146  UERROR("Parameter \"%s\" doesn't exist anymore.", jter->first.c_str());
1147  }
1148  else
1149  {
1150  UERROR("Parameter \"%s\" doesn't exist anymore, check this similar parameter \"%s\".", jter->first.c_str(), jter->second.second.c_str());
1151  }
1152  }
1153  }
1154  }
1155  }
1156  }
1157  return out;
1158 }
1159 
1160 
1161 void Parameters::readINI(const std::string & configFile, ParametersMap & parameters, bool modifiedOnly)
1162 {
1163  CSimpleIniA ini;
1164  ini.LoadFile(configFile.c_str());
1165  const CSimpleIniA::TKeyVal * keyValMap = ini.GetSection("Core");
1166  if(keyValMap)
1167  {
1168  for(CSimpleIniA::TKeyVal::const_iterator iter=keyValMap->begin(); iter!=keyValMap->end(); ++iter)
1169  {
1170  std::string key = (*iter).first.pItem;
1171  if(key.compare("Version") == 0)
1172  {
1173  // Compare version in ini with the current RTAB-Map version
1174  std::vector<std::string> version = uListToVector(uSplit((*iter).second, '.'));
1175  if(version.size() == 3)
1176  {
1177  if(!RTABMAP_VERSION_COMPARE(std::atoi(version[0].c_str()), std::atoi(version[1].c_str()), std::atoi(version[2].c_str())))
1178  {
1179  if(configFile.find(".rtabmap") != std::string::npos)
1180  {
1181  UWARN("Version in the config file \"%s\" is more recent (\"%s\") than "
1182  "current RTAB-Map version used (\"%s\"). The config file will be upgraded "
1183  "to new version.",
1184  configFile.c_str(),
1185  (*iter).second,
1186  RTABMAP_VERSION);
1187  }
1188  else
1189  {
1190  UERROR("Version in the config file \"%s\" is more recent (\"%s\") than "
1191  "current RTAB-Map version used (\"%s\"). New parameters (if there are some) will "
1192  "be ignored.",
1193  configFile.c_str(),
1194  (*iter).second,
1195  RTABMAP_VERSION);
1196  }
1197  }
1198  }
1199  }
1200  else
1201  {
1202  key = uReplaceChar(key, '\\', '/'); // Ini files use \ by default for separators, so replace them
1203 
1204  // look for old parameter name
1205  std::map<std::string, std::pair<bool, std::string> >::const_iterator oldIter = Parameters::getRemovedParameters().find(key);
1206  if(oldIter!=Parameters::getRemovedParameters().end())
1207  {
1208  if(oldIter->second.first)
1209  {
1210  if(parameters.find(oldIter->second.second) == parameters.end())
1211  {
1212  key = oldIter->second.second;
1213  UINFO("Parameter migration from \"%s\" to \"%s\" (value=%s, default=%s).",
1214  oldIter->first.c_str(), oldIter->second.second.c_str(), iter->second, Parameters::getDefaultParameters().at(oldIter->second.second).c_str());
1215  }
1216  }
1217  else if(oldIter->second.second.empty())
1218  {
1219  UWARN("Parameter \"%s\" doesn't exist anymore.",
1220  oldIter->first.c_str());
1221  }
1222  else if(parameters.find(oldIter->second.second) == parameters.end())
1223  {
1224  UWARN("Parameter \"%s\" (value=%s) doesn't exist anymore, you may want to use this similar parameter \"%s (default=%s): %s\".",
1225  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());
1226  }
1227 
1228  }
1229 
1230  if(Parameters::getDefaultParameters().find(key) != Parameters::getDefaultParameters().end())
1231  {
1232  if(!modifiedOnly || std::string(iter->second).compare(Parameters::getDefaultParameters().find(key)->second) != 0)
1233  {
1234  uInsert(parameters, ParametersPair(key, iter->second));
1235  }
1236  }
1237  }
1238  }
1239  }
1240  else
1241  {
1242  ULOGGER_WARN("Section \"Core\" in %s doesn't exist... "
1243  "Ignore this warning if the ini file does not exist yet. "
1244  "The ini file will be automatically created when rtabmap will close.", configFile.c_str());
1245  }
1246 }
1247 
1248 void Parameters::writeINI(const std::string & configFile, const ParametersMap & parameters)
1249 {
1250  CSimpleIniA ini;
1251  ini.LoadFile(configFile.c_str());
1252 
1253  // Save current version
1254  ini.SetValue("Core", "Version", RTABMAP_VERSION, NULL, true);
1255 
1256  for(ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
1257  {
1258  std::string key = iter->first;
1259  key = uReplaceChar(key, '/', '\\'); // Ini files use \ by default for separators, so replace the /
1260 
1261  std::string value = iter->second.c_str();
1262  value = uReplaceChar(value, '\\', '/'); // use always slash for values
1263 
1264  ini.SetValue("Core", key.c_str(), value.c_str(), NULL, true);
1265  }
1266 
1267  // Delete removed parameters
1268  if(parameters.size() == getDefaultParameters().size())
1269  {
1270  for(std::map<std::string, std::pair<bool, std::string> >::const_iterator iter = removedParameters_.begin();
1271  iter!=removedParameters_.end();
1272  ++iter)
1273  {
1274  std::string key = iter->first;
1275  key = uReplaceChar(key, '/', '\\'); // Ini files use \ by default for separators, so replace the /
1276 
1277  std::string value = ini.GetValue("Core", key.c_str(), "");
1278 
1279  if(ini.Delete("Core", key.c_str(), true))
1280  {
1281  if(iter->second.first && parameters.find(iter->second.second) != parameters.end())
1282  {
1283  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());
1284  }
1285  else
1286  {
1287  UWARN("Removed deprecated parameter %s=%s from \"%s\".", iter->first.c_str(), value.c_str(), configFile.c_str());
1288  }
1289  }
1290  }
1291  }
1292 
1293  ini.SaveFile(configFile.c_str());
1294 }
1295 
1296 }
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rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:37:29