opencv_yaml_parse.h

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/*
 * OpenVINS: An Open Platform for Visual-Inertial Research
 * Copyright (C) 2018-2023 Patrick Geneva
 * Copyright (C) 2018-2023 Guoquan Huang
 * Copyright (C) 2018-2023 OpenVINS Contributors
 * Copyright (C) 2018-2019 Kevin Eckenhoff
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef OPENCV_YAML_PARSER_H
#define OPENCV_YAML_PARSER_H
 
#include <Eigen/Eigen>
#include <boost/filesystem.hpp>
#include <memory>
#include <opencv2/opencv.hpp>
 
#if ROS_AVAILABLE == 1
#include <ros/ros.h>
#elif ROS_AVAILABLE == 2
#include <rclcpp/rclcpp.hpp>
#endif
 
#include "colors.h"
#include "print.h"
#include "quat_ops.h"
 
namespace ov_core {
 
class YamlParser {
public:
  explicit YamlParser(const std::string &config_path, bool fail_if_not_found = true) : config_path_(config_path) {
 
    // Check if file exists
    if (!fail_if_not_found && !boost::filesystem::exists(config_path)) {
      config = nullptr;
      return;
    }
    if (!boost::filesystem::exists(config_path)) {
      PRINT_ERROR(RED "unable to open the configuration file!\n%s\n" RESET, config_path.c_str());
      std::exit(EXIT_FAILURE);
    }
 
    // Open the file, error if we can't
    config = std::make_shared<cv::FileStorage>(config_path, cv::FileStorage::READ);
    if (!fail_if_not_found && !config->isOpened()) {
      config = nullptr;
      return;
    }
    if (!config->isOpened()) {
      PRINT_ERROR(RED "unable to open the configuration file!\n%s\n" RESET, config_path.c_str());
      std::exit(EXIT_FAILURE);
    }
  }
 
#if ROS_AVAILABLE == 1
  void set_node_handler(std::shared_ptr<ros::NodeHandle> nh_) { this->nh = nh_; }
#endif
 
#if ROS_AVAILABLE == 2
  void set_node(std::shared_ptr<rclcpp::Node> &node_) { this->node = node_; }
#endif
 
  std::string get_config_folder() { return config_path_.substr(0, config_path_.find_last_of('/')) + "/"; }
 
  bool successful() const { return all_params_found_successfully; }
 
  template <class T> void parse_config(const std::string &node_name, T &node_result, bool required = true) {
 
#if ROS_AVAILABLE == 1
    if (nh != nullptr && nh->getParam(node_name, node_result)) {
      PRINT_INFO(GREEN "overriding node " BOLDGREEN "%s" RESET GREEN " with value from ROS!\n" RESET, node_name.c_str());
      nh->param<T>(node_name, node_result);
      return;
    }
#elif ROS_AVAILABLE == 2
    if (node != nullptr && node->has_parameter(node_name)) {
      PRINT_INFO(GREEN "overriding node " BOLDGREEN "%s" RESET GREEN " with value from ROS!\n" RESET, node_name.c_str());
      node->get_parameter<T>(node_name, node_result);
      return;
    }
#endif
 
    // Else we just parse from the YAML file!
    parse_config_yaml(node_name, node_result, required);
  }
 
  template <class T>
  void parse_external(const std::string &external_node_name, const std::string &sensor_name, const std::string &node_name, T &node_result,
                      bool required = true) {
 
#if ROS_AVAILABLE == 1
    std::string rosnode = sensor_name + "_" + node_name;
    if (nh != nullptr && nh->getParam(rosnode, node_result)) {
      PRINT_INFO(GREEN "overriding node " BOLDGREEN "%s" RESET GREEN " with value from ROS!\n" RESET, rosnode.c_str());
      nh->param<T>(rosnode, node_result);
      return;
    }
#elif ROS_AVAILABLE == 2
    std::string rosnode = sensor_name + "_" + node_name;
    if (node != nullptr && node->has_parameter(rosnode)) {
      PRINT_INFO(GREEN "overriding node " BOLDGREEN "%s" RESET GREEN " with value from ROS!\n" RESET, rosnode.c_str());
      node->get_parameter<T>(rosnode, node_result);
      return;
    }
#endif
 
    // Else we just parse from the YAML file!
    parse_external_yaml(external_node_name, sensor_name, node_name, node_result, required);
  }
 
  void parse_external(const std::string &external_node_name, const std::string &sensor_name, const std::string &node_name,
                      Eigen::Matrix3d &node_result, bool required = true) {
 
#if ROS_AVAILABLE == 1
    // If we have the ROS parameter, we should just get that one
    // NOTE: for our 3x3 matrix we should read it as an array from ROS then covert it back into the 3x3
    std::string rosnode = sensor_name + "_" + node_name;
    std::vector<double> matrix_RCtoI;
    if (nh != nullptr && nh->getParam(rosnode, matrix_RCtoI)) {
      PRINT_INFO(GREEN "overriding node " BOLDGREEN "%s" RESET GREEN " with value from ROS!\n" RESET, rosnode.c_str());
      nh->param<std::vector<double>>(rosnode, matrix_RCtoI);
      node_result << matrix_RCtoI.at(0), matrix_RCtoI.at(1), matrix_RCtoI.at(2), matrix_RCtoI.at(3), matrix_RCtoI.at(4), matrix_RCtoI.at(5),
          matrix_RCtoI.at(6), matrix_RCtoI.at(7), matrix_RCtoI.at(8);
      return;
    }
#elif ROS_AVAILABLE == 2
    // If we have the ROS parameter, we should just get that one
    // NOTE: for our 3x3 matrix we should read it as an array from ROS then covert it back into the 4x4
    std::string rosnode = sensor_name + "_" + node_name;
    std::vector<double> matrix_RCtoI;
    if (node != nullptr && node->has_parameter(rosnode)) {
      PRINT_INFO(GREEN "overriding node " BOLDGREEN "%s" RESET GREEN " with value from ROS!\n" RESET, rosnode.c_str());
      node->get_parameter<std::vector<double>>(rosnode, matrix_RCtoI);
      node_result << matrix_RCtoI.at(0), matrix_RCtoI.at(1), matrix_RCtoI.at(2), matrix_RCtoI.at(3), matrix_RCtoI.at(4), matrix_RCtoI.at(5),
          matrix_RCtoI.at(6), matrix_RCtoI.at(7), matrix_RCtoI.at(8);
      return;
    }
#endif
 
    // Else we just parse from the YAML file!
    parse_external_yaml(external_node_name, sensor_name, node_name, node_result, required);
  }
 
  void parse_external(const std::string &external_node_name, const std::string &sensor_name, const std::string &node_name,
                      Eigen::Matrix4d &node_result, bool required = true) {
 
#if ROS_AVAILABLE == 1
    // If we have the ROS parameter, we should just get that one
    // NOTE: for our 4x4 matrix we should read it as an array from ROS then covert it back into the 4x4
    std::string rosnode = sensor_name + "_" + node_name;
    std::vector<double> matrix_TCtoI;
    if (nh != nullptr && nh->getParam(rosnode, matrix_TCtoI)) {
      PRINT_INFO(GREEN "overriding node " BOLDGREEN "%s" RESET GREEN " with value from ROS!\n" RESET, rosnode.c_str());
      nh->param<std::vector<double>>(rosnode, matrix_TCtoI);
      node_result << matrix_TCtoI.at(0), matrix_TCtoI.at(1), matrix_TCtoI.at(2), matrix_TCtoI.at(3), matrix_TCtoI.at(4), matrix_TCtoI.at(5),
          matrix_TCtoI.at(6), matrix_TCtoI.at(7), matrix_TCtoI.at(8), matrix_TCtoI.at(9), matrix_TCtoI.at(10), matrix_TCtoI.at(11),
          matrix_TCtoI.at(12), matrix_TCtoI.at(13), matrix_TCtoI.at(14), matrix_TCtoI.at(15);
      return;
    }
#elif ROS_AVAILABLE == 2
    // If we have the ROS parameter, we should just get that one
    // NOTE: for our 4x4 matrix we should read it as an array from ROS then covert it back into the 4x4
    std::string rosnode = sensor_name + "_" + node_name;
    std::vector<double> matrix_TCtoI;
    if (node != nullptr && node->has_parameter(rosnode)) {
      PRINT_INFO(GREEN "overriding node " BOLDGREEN "%s" RESET GREEN " with value from ROS!\n" RESET, rosnode.c_str());
      node->get_parameter<std::vector<double>>(rosnode, matrix_TCtoI);
      node_result << matrix_TCtoI.at(0), matrix_TCtoI.at(1), matrix_TCtoI.at(2), matrix_TCtoI.at(3), matrix_TCtoI.at(4), matrix_TCtoI.at(5),
          matrix_TCtoI.at(6), matrix_TCtoI.at(7), matrix_TCtoI.at(8), matrix_TCtoI.at(9), matrix_TCtoI.at(10), matrix_TCtoI.at(11),
          matrix_TCtoI.at(12), matrix_TCtoI.at(13), matrix_TCtoI.at(14), matrix_TCtoI.at(15);
      return;
    }
#endif
 
    // Else we just parse from the YAML file!
    parse_external_yaml(external_node_name, sensor_name, node_name, node_result, required);
  }
 
#if ROS_AVAILABLE == 2
  void parse_config(const std::string &node_name, int &node_result, bool required = true) {
    int64_t val = node_result;
    if (node != nullptr && node->has_parameter(node_name)) {
      PRINT_INFO(GREEN "overriding node " BOLDGREEN "%s" RESET GREEN " with value from ROS!\n" RESET, node_name.c_str());
      node->get_parameter<int64_t>(node_name, val);
      node_result = (int)val;
      return;
    }
    parse_config_yaml(node_name, node_result, required);
  }
  void parse_external(const std::string &external_node_name, const std::string &sensor_name, const std::string &node_name,
                      std::vector<int> &node_result, bool required = true) {
    std::vector<int64_t> val;
    for (auto tmp : node_result)
      val.push_back(tmp);
    std::string rosnode = sensor_name + "_" + node_name;
    if (node != nullptr && node->has_parameter(rosnode)) {
      PRINT_INFO(GREEN "overriding node " BOLDGREEN "%s" RESET GREEN " with value from ROS!\n" RESET, rosnode.c_str());
      node->get_parameter<std::vector<int64_t>>(rosnode, val);
      node_result.clear();
      for (auto tmp : val)
        node_result.push_back((int)tmp);
      return;
    }
    parse_external_yaml(external_node_name, sensor_name, node_name, node_result, required);
  }
#endif
 
private:
  std::string config_path_;
 
  std::shared_ptr<cv::FileStorage> config;
 
  bool all_params_found_successfully = true;
 
#if ROS_AVAILABLE == 1
  std::shared_ptr<ros::NodeHandle> nh;
#endif
 
#if ROS_AVAILABLE == 2
  std::shared_ptr<rclcpp::Node> node = nullptr;
#endif
 
  static bool node_found(const cv::FileNode &file_node, const std::string &node_name) {
    bool found_node = false;
    for (const auto &item : file_node) {
      if (item.name() == node_name) {
        found_node = true;
      }
    }
    return found_node;
  }
 
  template <class T> void parse(const cv::FileNode &file_node, const std::string &node_name, T &node_result, bool required = true) {
 
    // Check that we have the requested node
    if (!node_found(file_node, node_name)) {
      if (required) {
        PRINT_WARNING(YELLOW "the node %s of type [%s] was not found...\n" RESET, node_name.c_str(), typeid(node_result).name());
        all_params_found_successfully = false;
      } else {
        PRINT_DEBUG("the node %s of type [%s] was not found (not required)...\n", node_name.c_str(), typeid(node_result).name());
      }
      return;
    }
 
    // Now try to get it from the config
    try {
      file_node[node_name] >> node_result;
    } catch (...) {
      if (required) {
        PRINT_WARNING(YELLOW "unable to parse %s node of type [%s] in the config file!\n" RESET, node_name.c_str(),
                      typeid(node_result).name());
        all_params_found_successfully = false;
      } else {
        PRINT_DEBUG("unable to parse %s node of type [%s] in the config file (not required)\n", node_name.c_str(),
                    typeid(node_result).name());
      }
    }
  }
 
  void parse(const cv::FileNode &file_node, const std::string &node_name, bool &node_result, bool required = true) {
 
    // Check that we have the requested node
    if (!node_found(file_node, node_name)) {
      if (required) {
        PRINT_WARNING(YELLOW "the node %s of type [%s] was not found...\n" RESET, node_name.c_str(), typeid(node_result).name());
        all_params_found_successfully = false;
      } else {
        PRINT_DEBUG("the node %s of type [%s] was not found (not required)...\n", node_name.c_str(), typeid(node_result).name());
      }
      return;
    }
 
    // Now try to get it from the config
    try {
      if (file_node[node_name].isInt() && (int)file_node[node_name] == 1) {
        node_result = true;
        return;
      }
      if (file_node[node_name].isInt() && (int)file_node[node_name] == 0) {
        node_result = false;
        return;
      }
      // NOTE: we select the first bit of text as there can be a comment afterwards
      // NOTE: for example we could have "key: true #comment here..." where we only want "true"
      std::string value;
      file_node[node_name] >> value;
      value = value.substr(0, value.find_first_of('#'));
      value = value.substr(0, value.find_first_of(' '));
      if (value == "1" || value == "true" || value == "True" || value == "TRUE") {
        node_result = true;
      } else if (value == "0" || value == "false" || value == "False" || value == "FALSE") {
        node_result = false;
      } else {
        PRINT_WARNING(YELLOW "the node %s has an invalid boolean type of [%s]\n" RESET, node_name.c_str(), value.c_str());
        all_params_found_successfully = false;
      }
    } catch (...) {
      if (required) {
        PRINT_WARNING(YELLOW "unable to parse %s node of type [%s] in the config file!\n" RESET, node_name.c_str(),
                      typeid(node_result).name());
        all_params_found_successfully = false;
      } else {
        PRINT_DEBUG("unable to parse %s node of type [%s] in the config file (not required)\n", node_name.c_str(),
                    typeid(node_result).name());
      }
    }
  }
 
  void parse(const cv::FileNode &file_node, const std::string &node_name, Eigen::Matrix3d &node_result, bool required = true) {
 
    // Check that we have the requested node
    if (!node_found(file_node, node_name)) {
      if (required) {
        PRINT_WARNING(YELLOW "the node %s of type [%s] was not found...\n" RESET, node_name.c_str(), typeid(node_result).name());
        all_params_found_successfully = false;
      } else {
        PRINT_DEBUG("the node %s of type [%s] was not found (not required)...\n", node_name.c_str(), typeid(node_result).name());
      }
      return;
    }
 
    // Now try to get it from the config
    node_result = Eigen::Matrix3d::Identity();
    try {
      for (int r = 0; r < (int)file_node[node_name].size() && r < 3; r++) {
        for (int c = 0; c < (int)file_node[node_name][r].size() && c < 3; c++) {
          node_result(r, c) = (double)file_node[node_name][r][c];
        }
      }
    } catch (...) {
      if (required) {
        PRINT_WARNING(YELLOW "unable to parse %s node of type [%s] in the config file!\n" RESET, node_name.c_str(),
                      typeid(node_result).name());
        all_params_found_successfully = false;
      } else {
        PRINT_DEBUG("unable to parse %s node of type [%s] in the config file (not required)\n", node_name.c_str(),
                    typeid(node_result).name());
      }
    }
  }
 
  void parse(const cv::FileNode &file_node, const std::string &node_name, Eigen::Matrix4d &node_result, bool required = true) {
 
    // See if we need to flip the node name
    std::string node_name_local = node_name;
    if (node_name == "T_cam_imu" && !node_found(file_node, node_name)) {
      PRINT_INFO("parameter T_cam_imu not found, trying T_imu_cam instead (will return T_cam_imu still)!\n");
      node_name_local = "T_imu_cam";
    } else if (node_name == "T_imu_cam" && !node_found(file_node, node_name)) {
      PRINT_INFO("parameter T_imu_cam not found, trying T_cam_imu instead (will return T_imu_cam still)!\n");
      node_name_local = "T_cam_imu";
    }
 
    // Check that we have the requested node
    if (!node_found(file_node, node_name_local)) {
      if (required) {
        PRINT_WARNING(YELLOW "the node %s of type [%s] was not found...\n" RESET, node_name_local.c_str(), typeid(node_result).name());
        all_params_found_successfully = false;
      } else {
        PRINT_DEBUG("the node %s of type [%s] was not found (not required)...\n", node_name_local.c_str(), typeid(node_result).name());
      }
      return;
    }
 
    // Now try to get it from the config
    node_result = Eigen::Matrix4d::Identity();
    try {
      for (int r = 0; r < (int)file_node[node_name_local].size() && r < 4; r++) {
        for (int c = 0; c < (int)file_node[node_name_local][r].size() && c < 4; c++) {
          node_result(r, c) = (double)file_node[node_name_local][r][c];
        }
      }
    } catch (...) {
      if (required) {
        PRINT_WARNING(YELLOW "unable to parse %s node of type [%s] in the config file!\n" RESET, node_name.c_str(),
                      typeid(node_result).name());
        all_params_found_successfully = false;
      } else {
        PRINT_DEBUG("unable to parse %s node of type [%s] in the config file (not required)\n", node_name.c_str(),
                    typeid(node_result).name());
      }
    }
 
    // Finally if we flipped the transform, get the correct value
    if (node_name_local != node_name) {
      Eigen::Matrix4d tmp(node_result);
      node_result = ov_core::Inv_se3(tmp);
    }
  }
 
  template <class T> void parse_config_yaml(const std::string &node_name, T &node_result, bool required = true) {
 
    // Directly return if the config hasn't been opened
    if (config == nullptr)
      return;
 
    // Else lets get the one from the config
    try {
      parse(config->root(), node_name, node_result, required);
    } catch (...) {
      PRINT_WARNING(YELLOW "unable to parse %s node of type [%s] in the config file!\n" RESET, node_name.c_str(),
                    typeid(node_result).name());
      all_params_found_successfully = false;
    }
  }
 
  template <class T>
  void parse_external_yaml(const std::string &external_node_name, const std::string &sensor_name, const std::string &node_name,
                           T &node_result, bool required = true) {
    // Directly return if the config hasn't been opened
    if (config == nullptr)
      return;
 
    // Create the path the external yaml file
    std::string path;
    if (!node_found(config->root(), external_node_name)) {
      PRINT_ERROR(RED "the external node %s could not be found!\n" RESET, external_node_name.c_str());
      std::exit(EXIT_FAILURE);
    }
    (*config)[external_node_name] >> path;
    std::string relative_folder = config_path_.substr(0, config_path_.find_last_of('/')) + "/";
 
    // Now actually try to load them from file!
    auto config_external = std::make_shared<cv::FileStorage>(relative_folder + path, cv::FileStorage::READ);
    if (!config_external->isOpened()) {
      PRINT_ERROR(RED "unable to open the configuration file!\n%s\n" RESET, (relative_folder + path).c_str());
      std::exit(EXIT_FAILURE);
    }
 
    // Check that we have the requested node
    if (!node_found(config_external->root(), sensor_name)) {
      PRINT_WARNING(YELLOW "the sensor %s of type [%s] was not found...\n" RESET, sensor_name.c_str(), typeid(node_result).name());
      all_params_found_successfully = false;
      return;
    }
 
    // Else lets get it!
    try {
      parse((*config_external)[sensor_name], node_name, node_result, required);
    } catch (...) {
      PRINT_WARNING(YELLOW "unable to parse %s node of type [%s] in [%s] in the external %s config file!\n" RESET, node_name.c_str(),
                    typeid(node_result).name(), sensor_name.c_str(), external_node_name.c_str());
      all_params_found_successfully = false;
    }
  }
};
 
} /* namespace ov_core */
 
#endif /* OPENCV_YAML_PARSER_H */