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  // 0.21.7
240  removedParameters_.insert(std::make_pair("SIFT/NFeatures", std::make_pair(false, "")));
241 
242  // 0.21.3
243  removedParameters_.insert(std::make_pair("GridGlobal/FullUpdate", std::make_pair(false, "")));
244 
245  // 0.20.15
246  removedParameters_.insert(std::make_pair("Grid/FromDepth", std::make_pair(true, Parameters::kGridSensor())));
247 
248  // 0.20.9
249  removedParameters_.insert(std::make_pair("OdomORBSLAM2/VocPath", std::make_pair(true, Parameters::kOdomORBSLAMVocPath())));
250  removedParameters_.insert(std::make_pair("OdomORBSLAM2/Bf", std::make_pair(true, Parameters::kOdomORBSLAMBf())));
251  removedParameters_.insert(std::make_pair("OdomORBSLAM2/ThDepth", std::make_pair(true, Parameters::kOdomORBSLAMThDepth())));
252  removedParameters_.insert(std::make_pair("OdomORBSLAM2/Fps", std::make_pair(true, Parameters::kOdomORBSLAMFps())));
253  removedParameters_.insert(std::make_pair("OdomORBSLAM2/MaxFeatures", std::make_pair(true, Parameters::kOdomORBSLAMMaxFeatures())));
254  removedParameters_.insert(std::make_pair("OdomORBSLAM2/MapSize", std::make_pair(true, Parameters::kOdomORBSLAMMapSize())));
255 
256  removedParameters_.insert(std::make_pair("RGBD/SavedLocalizationIgnored", std::make_pair(true, Parameters::kRGBDStartAtOrigin())));
257 
258  removedParameters_.insert(std::make_pair("Icp/PMForce4DoF", std::make_pair(true, Parameters::kIcpForce4DoF())));
259  removedParameters_.insert(std::make_pair("Icp/PM", std::make_pair(true, Parameters::kIcpStrategy()))); // convert "true" to "1"
260  removedParameters_.insert(std::make_pair("Icp/PMOutlierRatio", std::make_pair(true, Parameters::kIcpOutlierRatio())));
261 
262  // 0.20.
263  removedParameters_.insert(std::make_pair("SuperGlue/Path", std::make_pair(true, Parameters::kPyMatcherPath())));
264  removedParameters_.insert(std::make_pair("SuperGlue/Iterations", std::make_pair(true, Parameters::kPyMatcherIterations())));
265  removedParameters_.insert(std::make_pair("SuperGlue/MatchThreshold", std::make_pair(true, Parameters::kPyMatcherThreshold())));
266  removedParameters_.insert(std::make_pair("SuperGlue/Cuda", std::make_pair(true, Parameters::kPyMatcherCuda())));
267  removedParameters_.insert(std::make_pair("SuperGlue/Indoor", std::make_pair(false, Parameters::kPyMatcherModel())));
268 
269  removedParameters_.insert(std::make_pair("Vis/CorCrossCheck", std::make_pair(false, Parameters::kVisCorNNType())));
270  removedParameters_.insert(std::make_pair("SPTorch/ModelPath", std::make_pair(true, Parameters::kSuperPointModelPath())));
271  removedParameters_.insert(std::make_pair("SPTorch/Threshold", std::make_pair(true, Parameters::kSuperPointThreshold())));
272  removedParameters_.insert(std::make_pair("SPTorch/NMS", std::make_pair(true, Parameters::kSuperPointNMS())));
273  removedParameters_.insert(std::make_pair("SPTorch/MinDistance", std::make_pair(true, Parameters::kSuperPointNMSRadius())));
274  removedParameters_.insert(std::make_pair("SPTorch/Cuda", std::make_pair(true, Parameters::kSuperPointCuda())));
275 
276  // 0.19.4
277  removedParameters_.insert(std::make_pair("RGBD/MaxLocalizationDistance", std::make_pair(true, Parameters::kRGBDMaxLoopClosureDistance())));
278 
279  // 0.19.3
280  removedParameters_.insert(std::make_pair("Aruco/Dictionary", std::make_pair(true, Parameters::kMarkerDictionary())));
281  removedParameters_.insert(std::make_pair("Aruco/MarkerLength", std::make_pair(true, Parameters::kMarkerLength())));
282  removedParameters_.insert(std::make_pair("Aruco/MaxDepthError", std::make_pair(true, Parameters::kMarkerMaxDepthError())));
283  removedParameters_.insert(std::make_pair("Aruco/VarianceLinear", std::make_pair(true, Parameters::kMarkerVarianceLinear())));
284  removedParameters_.insert(std::make_pair("Aruco/VarianceAngular", std::make_pair(true, Parameters::kMarkerVarianceAngular())));
285  removedParameters_.insert(std::make_pair("Aruco/CornerRefinementMethod", std::make_pair(true, Parameters::kMarkerCornerRefinementMethod())));
286 
287  // 0.17.5
288  removedParameters_.insert(std::make_pair("Grid/OctoMapOccupancyThr", std::make_pair(true, Parameters::kGridGlobalOccupancyThr())));
289 
290  // 0.17.0
291  removedParameters_.insert(std::make_pair("Grid/Scan2dMaxFilledRange", std::make_pair(false, Parameters::kGridRangeMax())));
292 
293  // 0.16.0
294  removedParameters_.insert(std::make_pair("Grid/ProjRayTracing", std::make_pair(true, Parameters::kGridRayTracing())));
295  removedParameters_.insert(std::make_pair("Grid/DepthMin", std::make_pair(true, Parameters::kGridRangeMin())));
296  removedParameters_.insert(std::make_pair("Grid/DepthMax", std::make_pair(true, Parameters::kGridRangeMax())));
297 
298  // 0.15.1
299  removedParameters_.insert(std::make_pair("Reg/VarianceFromInliersCount", std::make_pair(false, "")));
300  removedParameters_.insert(std::make_pair("Reg/VarianceNormalized", std::make_pair(false, "")));
301 
302  // 0.13.3
303  removedParameters_.insert(std::make_pair("Icp/PointToPlaneNormalNeighbors", std::make_pair(true, Parameters::kIcpPointToPlaneK())));
304 
305 
306  // 0.13.1
307  removedParameters_.insert(std::make_pair("Rtabmap/VhStrategy", std::make_pair(true, Parameters::kVhEpEnabled())));
308 
309  // 0.12.5
310  removedParameters_.insert(std::make_pair("Grid/FullUpdate", std::make_pair(false, "")));
311 
312  // 0.12.1
313  removedParameters_.insert(std::make_pair("Grid/3DGroundIsObstacle", std::make_pair(true, Parameters::kGridGroundIsObstacle())));
314 
315  // 0.11.12
316  removedParameters_.insert(std::make_pair("Optimizer/Slam2D", std::make_pair(true, Parameters::kRegForce3DoF())));
317  removedParameters_.insert(std::make_pair("OdomF2M/FixedMapPath", std::make_pair(false, "")));
318 
319  // 0.11.10 typos
320  removedParameters_.insert(std::make_pair("Grid/FlatObstaclesDetected", std::make_pair(true, Parameters::kGridFlatObstacleDetected())));
321 
322  // 0.11.8
323  removedParameters_.insert(std::make_pair("Reg/Force2D", std::make_pair(true, Parameters::kRegForce3DoF())));
324  removedParameters_.insert(std::make_pair("OdomF2M/ScanSubstractRadius", std::make_pair(true, Parameters::kOdomF2MScanSubtractRadius())));
325 
326  // 0.11.6
327  removedParameters_.insert(std::make_pair("RGBD/ProximityPathScansMerged", std::make_pair(false, "")));
328 
329  // 0.11.3
330  removedParameters_.insert(std::make_pair("Mem/ImageDecimation", std::make_pair(true, Parameters::kMemImagePostDecimation())));
331 
332  // 0.11.2
333  removedParameters_.insert(std::make_pair("OdomLocalMap/HistorySize", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
334  removedParameters_.insert(std::make_pair("OdomLocalMap/FixedMapPath", std::make_pair(false, "")));
335  removedParameters_.insert(std::make_pair("OdomF2F/GuessMotion", std::make_pair(true, Parameters::kOdomGuessMotion())));
336  removedParameters_.insert(std::make_pair("OdomF2F/KeyFrameThr", std::make_pair(false, Parameters::kOdomKeyFrameThr())));
337 
338  // 0.11.0
339  removedParameters_.insert(std::make_pair("OdomBow/LocalHistorySize", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
340  removedParameters_.insert(std::make_pair("OdomBow/FixedLocalMapPath", std::make_pair(false, "")));
341  removedParameters_.insert(std::make_pair("OdomFlow/KeyFrameThr", std::make_pair(false, Parameters::kOdomKeyFrameThr())));
342  removedParameters_.insert(std::make_pair("OdomFlow/GuessMotion", std::make_pair(true, Parameters::kOdomGuessMotion())));
343 
344  removedParameters_.insert(std::make_pair("Kp/WordsPerImage", std::make_pair(true, Parameters::kKpMaxFeatures())));
345 
346  removedParameters_.insert(std::make_pair("Mem/LocalSpaceLinksKeptInWM", std::make_pair(false, "")));
347 
348  removedParameters_.insert(std::make_pair("RGBD/PoseScanMatching", std::make_pair(true, Parameters::kRGBDNeighborLinkRefining())));
349 
350  removedParameters_.insert(std::make_pair("Odom/ParticleFiltering", std::make_pair(false, Parameters::kOdomFilteringStrategy())));
351  removedParameters_.insert(std::make_pair("Odom/FeatureType", std::make_pair(true, Parameters::kVisFeatureType())));
352  removedParameters_.insert(std::make_pair("Odom/EstimationType", std::make_pair(true, Parameters::kVisEstimationType())));
353  removedParameters_.insert(std::make_pair("Odom/MaxFeatures", std::make_pair(true, Parameters::kVisMaxFeatures())));
354  removedParameters_.insert(std::make_pair("Odom/InlierDistance", std::make_pair(true, Parameters::kVisInlierDistance())));
355  removedParameters_.insert(std::make_pair("Odom/MinInliers", std::make_pair(true, Parameters::kVisMinInliers())));
356  removedParameters_.insert(std::make_pair("Odom/Iterations", std::make_pair(true, Parameters::kVisIterations())));
357  removedParameters_.insert(std::make_pair("Odom/RefineIterations", std::make_pair(true, Parameters::kVisRefineIterations())));
358  removedParameters_.insert(std::make_pair("Odom/MaxDepth", std::make_pair(true, Parameters::kVisMaxDepth())));
359  removedParameters_.insert(std::make_pair("Odom/RoiRatios", std::make_pair(true, Parameters::kVisRoiRatios())));
360  removedParameters_.insert(std::make_pair("Odom/Force2D", std::make_pair(true, Parameters::kRegForce3DoF())));
361  removedParameters_.insert(std::make_pair("Odom/VarianceFromInliersCount", std::make_pair(false, "")));
362  removedParameters_.insert(std::make_pair("Odom/PnPReprojError", std::make_pair(true, Parameters::kVisPnPReprojError())));
363  removedParameters_.insert(std::make_pair("Odom/PnPFlags", std::make_pair(true, Parameters::kVisPnPFlags())));
364 
365  removedParameters_.insert(std::make_pair("OdomBow/NNType", std::make_pair(true, Parameters::kVisCorNNType())));
366  removedParameters_.insert(std::make_pair("OdomBow/NNDR", std::make_pair(true, Parameters::kVisCorNNDR())));
367 
368  removedParameters_.insert(std::make_pair("OdomFlow/WinSize", std::make_pair(true, Parameters::kVisCorFlowWinSize())));
369  removedParameters_.insert(std::make_pair("OdomFlow/Iterations", std::make_pair(true, Parameters::kVisCorFlowIterations())));
370  removedParameters_.insert(std::make_pair("OdomFlow/Eps", std::make_pair(true, Parameters::kVisCorFlowEps())));
371  removedParameters_.insert(std::make_pair("OdomFlow/MaxLevel", std::make_pair(true, Parameters::kVisCorFlowMaxLevel())));
372 
373  removedParameters_.insert(std::make_pair("OdomSubPix/WinSize", std::make_pair(true, Parameters::kVisSubPixWinSize())));
374  removedParameters_.insert(std::make_pair("OdomSubPix/Iterations", std::make_pair(true, Parameters::kVisSubPixIterations())));
375  removedParameters_.insert(std::make_pair("OdomSubPix/Eps", std::make_pair(true, Parameters::kVisSubPixEps())));
376 
377  removedParameters_.insert(std::make_pair("LccReextract/Activated", std::make_pair(true, Parameters::kRGBDLoopClosureReextractFeatures())));
378  removedParameters_.insert(std::make_pair("LccReextract/FeatureType", std::make_pair(false, Parameters::kVisFeatureType())));
379  removedParameters_.insert(std::make_pair("LccReextract/MaxWords", std::make_pair(false, Parameters::kVisMaxFeatures())));
380  removedParameters_.insert(std::make_pair("LccReextract/MaxDepth", std::make_pair(false, Parameters::kVisMaxDepth())));
381  removedParameters_.insert(std::make_pair("LccReextract/RoiRatios", std::make_pair(false, Parameters::kVisRoiRatios())));
382  removedParameters_.insert(std::make_pair("LccReextract/NNType", std::make_pair(false, Parameters::kVisCorNNType())));
383  removedParameters_.insert(std::make_pair("LccReextract/NNDR", std::make_pair(false, Parameters::kVisCorNNDR())));
384 
385  removedParameters_.insert(std::make_pair("LccBow/EstimationType", std::make_pair(false, Parameters::kVisEstimationType())));
386  removedParameters_.insert(std::make_pair("LccBow/InlierDistance", std::make_pair(false, Parameters::kVisInlierDistance())));
387  removedParameters_.insert(std::make_pair("LccBow/MinInliers", std::make_pair(false, Parameters::kVisMinInliers())));
388  removedParameters_.insert(std::make_pair("LccBow/Iterations", std::make_pair(false, Parameters::kVisIterations())));
389  removedParameters_.insert(std::make_pair("LccBow/RefineIterations", std::make_pair(false, Parameters::kVisRefineIterations())));
390  removedParameters_.insert(std::make_pair("LccBow/Force2D", std::make_pair(false, Parameters::kRegForce3DoF())));
391  removedParameters_.insert(std::make_pair("LccBow/VarianceFromInliersCount", std::make_pair(false, "")));
392  removedParameters_.insert(std::make_pair("LccBow/PnPReprojError", std::make_pair(false, Parameters::kVisPnPReprojError())));
393  removedParameters_.insert(std::make_pair("LccBow/PnPFlags", std::make_pair(false, Parameters::kVisPnPFlags())));
394  removedParameters_.insert(std::make_pair("LccBow/EpipolarGeometryVar", std::make_pair(true, Parameters::kVisEpipolarGeometryVar())));
395 
396  removedParameters_.insert(std::make_pair("LccIcp/Type", std::make_pair(false, Parameters::kRegStrategy())));
397 
398  removedParameters_.insert(std::make_pair("LccIcp3/Decimation", std::make_pair(false, "")));
399  removedParameters_.insert(std::make_pair("LccIcp3/MaxDepth", std::make_pair(false, "")));
400  removedParameters_.insert(std::make_pair("LccIcp3/VoxelSize", std::make_pair(false, Parameters::kIcpVoxelSize())));
401  removedParameters_.insert(std::make_pair("LccIcp3/Samples", std::make_pair(false, Parameters::kIcpDownsamplingStep())));
402  removedParameters_.insert(std::make_pair("LccIcp3/MaxCorrespondenceDistance", std::make_pair(false, Parameters::kIcpMaxCorrespondenceDistance())));
403  removedParameters_.insert(std::make_pair("LccIcp3/Iterations", std::make_pair(false, Parameters::kIcpIterations())));
404  removedParameters_.insert(std::make_pair("LccIcp3/CorrespondenceRatio", std::make_pair(false, Parameters::kIcpCorrespondenceRatio())));
405  removedParameters_.insert(std::make_pair("LccIcp3/PointToPlane", std::make_pair(true, Parameters::kIcpPointToPlane())));
406  removedParameters_.insert(std::make_pair("LccIcp3/PointToPlaneNormalNeighbors", std::make_pair(true, Parameters::kIcpPointToPlaneK())));
407 
408  removedParameters_.insert(std::make_pair("LccIcp2/MaxCorrespondenceDistance", std::make_pair(true, Parameters::kIcpMaxCorrespondenceDistance())));
409  removedParameters_.insert(std::make_pair("LccIcp2/Iterations", std::make_pair(true, Parameters::kIcpIterations())));
410  removedParameters_.insert(std::make_pair("LccIcp2/CorrespondenceRatio", std::make_pair(true, Parameters::kIcpCorrespondenceRatio())));
411  removedParameters_.insert(std::make_pair("LccIcp2/VoxelSize", std::make_pair(true, Parameters::kIcpVoxelSize())));
412 
413  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionByTime", std::make_pair(true, Parameters::kRGBDProximityByTime())));
414  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionBySpace", std::make_pair(true, Parameters::kRGBDProximityBySpace())));
415  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionTime", std::make_pair(true, Parameters::kRGBDProximityByTime())));
416  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionSpace", std::make_pair(true, Parameters::kRGBDProximityBySpace())));
417  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathScansMerged", std::make_pair(false, "")));
418  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxGraphDepth", std::make_pair(true, Parameters::kRGBDProximityMaxGraphDepth())));
419  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathFilteringRadius", std::make_pair(true, Parameters::kRGBDProximityPathFilteringRadius())));
420  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathRawPosesUsed", std::make_pair(true, Parameters::kRGBDProximityPathRawPosesUsed())));
421 
422  removedParameters_.insert(std::make_pair("RGBD/OptimizeStrategy", std::make_pair(true, Parameters::kOptimizerStrategy())));
423  removedParameters_.insert(std::make_pair("RGBD/OptimizeEpsilon", std::make_pair(true, Parameters::kOptimizerEpsilon())));
424  removedParameters_.insert(std::make_pair("RGBD/OptimizeIterations", std::make_pair(true, Parameters::kOptimizerIterations())));
425  removedParameters_.insert(std::make_pair("RGBD/OptimizeRobust", std::make_pair(true, Parameters::kOptimizerRobust())));
426  removedParameters_.insert(std::make_pair("RGBD/OptimizeSlam2D", std::make_pair(true, Parameters::kRegForce3DoF())));
427  removedParameters_.insert(std::make_pair("RGBD/OptimizeSlam2d", std::make_pair(true, Parameters::kRegForce3DoF())));
428  removedParameters_.insert(std::make_pair("RGBD/OptimizeVarianceIgnored", std::make_pair(true, Parameters::kOptimizerVarianceIgnored())));
429 
430  removedParameters_.insert(std::make_pair("Stereo/WinSize", std::make_pair(true, Parameters::kStereoWinWidth())));
431 
432  // before 0.11.0
433  removedParameters_.insert(std::make_pair("GFTT/MaxCorners", std::make_pair(true, Parameters::kVisMaxFeatures())));
434  removedParameters_.insert(std::make_pair("LccBow/MaxDepth", std::make_pair(true, Parameters::kVisMaxDepth())));
435  removedParameters_.insert(std::make_pair("LccReextract/LoopClosureFeatures", std::make_pair(true, Parameters::kRGBDLoopClosureReextractFeatures())));
436  removedParameters_.insert(std::make_pair("Rtabmap/DetectorStrategy", std::make_pair(true, Parameters::kKpDetectorStrategy())));
437  removedParameters_.insert(std::make_pair("RGBD/ScanMatchingSize", std::make_pair(true, Parameters::kRGBDNeighborLinkRefining())));
438  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionRadius", std::make_pair(true, Parameters::kRGBDLocalRadius())));
439  removedParameters_.insert(std::make_pair("RGBD/ToroIterations", std::make_pair(true, Parameters::kOptimizerIterations())));
440  removedParameters_.insert(std::make_pair("Mem/RehearsedNodesKept", std::make_pair(true, Parameters::kMemNotLinkedNodesKept())));
441  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxDiffID", std::make_pair(true, Parameters::kRGBDProximityMaxGraphDepth())));
442  removedParameters_.insert(std::make_pair("RGBD/PlanVirtualLinksMaxDiffID", std::make_pair(false, "")));
443  removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxDiffID", std::make_pair(false, "")));
444  removedParameters_.insert(std::make_pair("Odom/Type", std::make_pair(true, Parameters::kVisFeatureType())));
445  removedParameters_.insert(std::make_pair("Odom/MaxWords", std::make_pair(true, Parameters::kVisMaxFeatures())));
446  removedParameters_.insert(std::make_pair("Odom/LocalHistory", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
447  removedParameters_.insert(std::make_pair("Odom/NearestNeighbor", std::make_pair(true, Parameters::kVisCorNNType())));
448  removedParameters_.insert(std::make_pair("Odom/NNDR", std::make_pair(true, Parameters::kVisCorNNDR())));
449  }
450  return removedParameters_;
451 }
452 
453 const ParametersMap & Parameters::getBackwardCompatibilityMap()
454 {
455  if(backwardCompatibilityMap_.empty())
456  {
457  getRemovedParameters(); // make sure removedParameters is filled
458 
459  // compatibility
460  for(std::map<std::string, std::pair<bool, std::string> >::iterator iter=removedParameters_.begin();
461  iter!=removedParameters_.end();
462  ++iter)
463  {
464  if(iter->second.first)
465  {
466  backwardCompatibilityMap_.insert(ParametersPair(iter->second.second, iter->first));
467  }
468  }
469  }
470  return backwardCompatibilityMap_;
471 }
472 
473 std::string Parameters::getType(const std::string & paramKey)
474 {
475  std::string type;
476  ParametersMap::iterator iter = parametersType_.find(paramKey);
477  if(iter != parametersType_.end())
478  {
479  type = iter->second;
480  }
481  else
482  {
483  UERROR("Parameters \"%s\" doesn't exist!", paramKey.c_str());
484  }
485  return type;
486 }
487 
488 std::string Parameters::getDescription(const std::string & paramKey)
489 {
490  std::string description;
491  ParametersMap::iterator iter = descriptions_.find(paramKey);
492  if(iter != descriptions_.end())
493  {
494  description = iter->second;
495  }
496  else
497  {
498  UERROR("Parameters \"%s\" doesn't exist!", paramKey.c_str());
499  }
500  return description;
501 }
502 
503 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, bool & value)
504 {
505  ParametersMap::const_iterator iter = parameters.find(key);
506  if(iter != parameters.end())
507  {
508  value = uStr2Bool(iter->second.c_str());
509  return true;
510  }
511  return false;
512 }
513 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, int & value)
514 {
515  ParametersMap::const_iterator iter = parameters.find(key);
516  if(iter != parameters.end())
517  {
518  value = uStr2Int(iter->second.c_str());
519  return true;
520  }
521  return false;
522 }
523 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, unsigned int & value)
524 {
525  ParametersMap::const_iterator iter = parameters.find(key);
526  if(iter != parameters.end())
527  {
528  value = uStr2Int(iter->second.c_str());
529  return true;
530  }
531  return false;
532 }
533 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, float & value)
534 {
535  ParametersMap::const_iterator iter = parameters.find(key);
536  if(iter != parameters.end())
537  {
538  value = uStr2Float(iter->second);
539  return true;
540  }
541  return false;
542 }
543 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, double & value)
544 {
545  ParametersMap::const_iterator iter = parameters.find(key);
546  if(iter != parameters.end())
547  {
548  value = uStr2Double(iter->second);
549  return true;
550  }
551  return false;
552 }
553 bool Parameters::parse(const ParametersMap & parameters, const std::string & key, std::string & value)
554 {
555  ParametersMap::const_iterator iter = parameters.find(key);
556  if(iter != parameters.end())
557  {
558  value = iter->second;
559  return true;
560  }
561  return false;
562 }
563 void Parameters::parse(const ParametersMap & parameters, ParametersMap & parametersOut)
564 {
565  for(ParametersMap::iterator iter=parametersOut.begin(); iter!=parametersOut.end(); ++iter)
566  {
567  ParametersMap::const_iterator jter = parameters.find(iter->first);
568  if(jter != parameters.end())
569  {
570  iter->second = jter->second;
571  }
572  }
573 }
574 
575 const char * Parameters::showUsage()
576 {
577  return "RTAB-Map options:\n"
578  " --help Show usage.\n"
579  " --version Show version of rtabmap and its dependencies.\n"
580  " --params Show all parameters with their default value and description. \n"
581  " If a database path is set as last argument, the parameters in the \n"
582  " database will be shown in INI format.\n"
583  " --\"parameter name\" \"value\" Overwrite a specific RTAB-Map's parameter :\n"
584  " --SURF/HessianThreshold 150\n"
585  " For parameters in table format, add ',' between values :\n"
586  " --Kp/RoiRatios 0,0,0.1,0\n"
587  "Logger options:\n"
588  " --nolog Disable logger\n"
589  " --logconsole Set logger console type\n"
590  " --logfile \"path\" Set logger file type\n"
591  " --logfilea \"path\" Set logger file type with appending mode if the file already exists\n"
592  " --udebug Set logger level to debug\n"
593  " --uinfo Set logger level to info\n"
594  " --uwarn Set logger level to warn\n"
595  " --uerror Set logger level to error\n"
596  " --logtime \"bool\" Print time when logging\n"
597  " --logwhere \"bool\" Print where when logging\n"
598  " --logthread \"bool\" Print thread id when logging\n"
599  ;
600 }
601 
602 ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParameters)
603 {
604  ParametersMap out;
605  const ParametersMap & parameters = getDefaultParameters();
606  const std::map<std::string, std::pair<bool, std::string> > & removedParams = getRemovedParameters();
607  for(int i=0;i<argc;++i)
608  {
609  bool checkParameters = onlyParameters;
610  if(!checkParameters)
611  {
612  if(strcmp(argv[i], "--help") == 0)
613  {
614  std::cout << showUsage() << std::endl;
615  exit(0);
616  }
617  else if(strcmp(argv[i], "--version") == 0)
618  {
619  std::string str = "RTAB-Map:";
620 
621  int spacing = 30;
622  std::cout << str << std::setw(spacing - str.size()) << RTABMAP_VERSION << std::endl;
623  str = "PCL:";
624  std::cout << str << std::setw(spacing - str.size()) << PCL_VERSION_PRETTY << std::endl;
625  str = "With VTK:";
626 #ifndef DISABLE_VTK
627  std::cout << str << std::setw(spacing - str.size()) << vtkVersion::GetVTKVersion() << std::endl;
628 #else
629  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
630 #endif
631  str = "OpenCV:";
632  std::cout << str << std::setw(spacing - str.size()) << CV_VERSION << std::endl;
633 #if CV_MAJOR_VERSION >= 3
634  str = "With OpenCV xfeatures2d:";
635 #ifdef HAVE_OPENCV_XFEATURES2D
636  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
637 #else
638  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
639 #endif
640 #endif
641  str = "With OpenCV nonfree:";
642 #ifdef RTABMAP_NONFREE
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 ORB OcTree:";
648 #ifdef RTABMAP_ORB_OCTREE
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 SuperPoint Torch:";
654 #ifdef RTABMAP_TORCH
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 Python3:";
660 #ifdef RTABMAP_PYTHON
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 FastCV:";
666 #ifdef RTABMAP_FASTCV
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 OpenGV:";
672 #ifdef RTABMAP_OPENGV
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 Madgwick:";
678 #ifdef RTABMAP_MADGWICK
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 PDAL:";
684 #ifdef RTABMAP_PDAL
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 libLAS:";
690 #ifdef RTABMAP_LIBLAS
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 CudaSift:";
696 #ifdef RTABMAP_CUDASIFT
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 TORO:";
702 #ifdef RTABMAP_TORO
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 g2o:";
708 #ifdef RTABMAP_G2O
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 GTSAM:";
714 #ifdef RTABMAP_GTSAM
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 Vertigo:";
720 #ifdef RTABMAP_VERTIGO
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 CVSBA:";
726 #ifdef RTABMAP_CVSBA
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 Ceres:";
732 #ifdef RTABMAP_CERES
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 OpenNI:";
738 #ifdef RTABMAP_OPENNI
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 OpenNI2:";
744 #ifdef RTABMAP_OPENNI2
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 Freenect:";
750 #ifdef RTABMAP_FREENECT
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 Freenect2:";
756 #ifdef RTABMAP_FREENECT2
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 K4W2:";
762 #ifdef RTABMAP_K4W2
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 K4A:";
768 #ifdef RTABMAP_K4A
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 DC1394:";
774 #ifdef RTABMAP_DC1394
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 FlyCapture2:";
780 #ifdef RTABMAP_FLYCAPTURE2
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 ZED:";
786 #ifdef RTABMAP_ZED
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 ZED Open Capture:";
792 #ifdef RTABMAP_ZEDOC
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 RealSense:";
798 #ifdef RTABMAP_REALSENSE
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 RealSense SLAM:";
804 #ifdef RTABMAP_REALSENSE_SLAM
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 RealSense2:";
810 #ifdef RTABMAP_REALSENSE2
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 MYNT EYE S:";
816 #ifdef RTABMAP_MYNTEYE
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 DepthAI:";
822 #ifdef RTABMAP_DEPTHAI
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 XVisio SDK:";
828 #ifdef RTABMAP_XVSDK
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 libpointmatcher:";
834 #ifdef RTABMAP_POINTMATCHER
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 CCCoreLib:";
840 #ifdef RTABMAP_CCCORELIB
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 Open3D:";
846 #ifdef RTABMAP_OPEN3D
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 OctoMap:";
852 #ifdef RTABMAP_OCTOMAP
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 GridMap:";
858 #ifdef RTABMAP_GRIDMAP
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 cpu-tsdf:";
864 #ifdef RTABMAP_CPUTSDF
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  str = "With open chisel:";
870 #ifdef RTABMAP_OPENCHISEL
871  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
872 #else
873  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
874 #endif
875  str = "With Alice Vision:";
876 #ifdef RTABMAP_ALICE_VISION
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 LOAM:";
882 #ifdef RTABMAP_LOAM
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 FLOAM:";
888 #ifdef RTABMAP_FLOAM
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 FOVIS:";
894 #ifdef RTABMAP_FOVIS
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 Viso2:";
900 #ifdef RTABMAP_VISO2
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  str = "With DVO:";
906 #ifdef RTABMAP_DVO
907  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
908 #else
909  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
910 #endif
911 #if RTABMAP_ORB_SLAM == 3
912  str = "With ORB_SLAM3:";
913 #elif RTABMAP_ORB_SLAM == 2
914  str = "With ORB_SLAM2:";
915 #else
916  str = "With ORB_SLAM:";
917 #endif
918 #ifdef RTABMAP_ORB_SLAM
919  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
920 #else
921  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
922 #endif
923  str = "With OKVIS:";
924 #ifdef RTABMAP_OKVIS
925  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
926 #else
927  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
928 #endif
929  str = "With MSCKF_VIO:";
930 #ifdef RTABMAP_MSCKF_VIO
931  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
932 #else
933  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
934 #endif
935  str = "With VINS-Fusion:";
936 #ifdef RTABMAP_VINS
937  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
938 #else
939  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
940 #endif
941  str = "With OpenVINS:";
942 #ifdef RTABMAP_OPENVINS
943  std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
944 #else
945  std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
946 #endif
947  exit(0);
948  }
949  else if(strcmp(argv[i], "--nolog") == 0)
950  {
951  ULogger::setType(ULogger::kTypeNoLog);
952  }
953  else if(strcmp(argv[i], "--logconsole") == 0)
954  {
955  ULogger::setType(ULogger::kTypeConsole);
956  }
957  else if(strcmp(argv[i], "--logfile") == 0)
958  {
959  ++i;
960  if(i < argc)
961  {
962  ULogger::setType(ULogger::kTypeFile, argv[i], false);
963  }
964  else
965  {
966  UERROR("\"--logfile\" argument requires following file path");
967  }
968  }
969  else if(strcmp(argv[i], "--logfilea") == 0)
970  {
971  ++i;
972  if(i < argc)
973  {
974  ULogger::setType(ULogger::kTypeFile, argv[i], true);
975  }
976  else
977  {
978  UERROR("\"--logfilea\" argument requires following file path");
979  }
980  }
981  else if(strcmp(argv[i], "--udebug") == 0)
982  {
983  ULogger::setLevel(ULogger::kDebug);
984  }
985  else if(strcmp(argv[i], "--uinfo") == 0)
986  {
987  ULogger::setLevel(ULogger::kInfo);
988  }
989  else if(strcmp(argv[i], "--uwarn") == 0)
990  {
991  ULogger::setLevel(ULogger::kWarning);
992  }
993  else if(strcmp(argv[i], "--uerror") == 0)
994  {
995  ULogger::setLevel(ULogger::kError);
996  }
997  else if(strcmp(argv[i], "--ulogtime") == 0)
998  {
999  ++i;
1000  if(i < argc)
1001  {
1002  ULogger::setPrintTime(uStr2Bool(argv[i]));
1003  }
1004  else
1005  {
1006  UERROR("\"--ulogtime\" argument requires a following boolean value");
1007  }
1008  }
1009  else if(strcmp(argv[i], "--ulogwhere") == 0)
1010  {
1011  ++i;
1012  if(i < argc)
1013  {
1014  ULogger::setPrintWhere(uStr2Bool(argv[i]));
1015  }
1016  else
1017  {
1018  UERROR("\"--ulogwhere\" argument requires a following boolean value");
1019  }
1020  }
1021  else if(strcmp(argv[i], "--ulogthread") == 0)
1022  {
1023  ++i;
1024  if(i < argc)
1025  {
1026  ULogger::setPrintThreadId(uStr2Bool(argv[i]));
1027  }
1028  else
1029  {
1030  UERROR("\"--ulogthread\" argument requires a following boolean value");
1031  }
1032  }
1033  else
1034  {
1035  checkParameters = true;
1036  }
1037  }
1038 
1039  if(checkParameters) // check for parameters
1040  {
1041  if(strcmp(argv[i], "--params") == 0)
1042  {
1043  if (i < argc - 1)
1044  {
1045  // If the last argument is a database, dump the parameters in INI format
1046  std::string dbName = argv[argc - 1];
1047  if (UFile::exists(dbName) && UFile::getExtension(dbName).compare("db") == 0)
1048  {
1049  DBDriver * driver = DBDriver::create();
1050  bool read = false;
1051  if (driver->openConnection(dbName))
1052  {
1053  ParametersMap dbParameters = driver->getLastParameters();
1054  if (!dbParameters.empty())
1055  {
1056  std::cout << "[Core]" << std::endl;
1057  std::cout << "Version = " << RTABMAP_VERSION << std::endl;
1058  for (ParametersMap::const_iterator iter = dbParameters.begin(); iter != dbParameters.end(); ++iter)
1059  {
1060  std::string key = iter->first;
1061  key = uReplaceChar(key, '/', '\\'); // Ini files use \ by default for separators, so replace the /
1062 
1063  std::string value = iter->second.c_str();
1064  value = uReplaceChar(value, '\\', '/'); // use always slash for values
1065 
1066  std::cout << key << " = " << value << std::endl;
1067  }
1068  read = true;
1069  }
1070  driver->closeConnection(false);
1071  }
1072  delete driver;
1073  if (read)
1074  {
1075  exit(0);
1076  }
1077  }
1078  }
1079 
1080  for(rtabmap::ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
1081  {
1082  bool ignore = false;
1083  UASSERT(uSplit(iter->first, '/').size() == 2);
1084  std::string group = uSplit(iter->first, '/').front();
1085 #ifndef RTABMAP_GTSAM
1086  if(group.compare("GTSAM") == 0)
1087  {
1088  ignore = true;
1089  }
1090 #endif
1091 #ifndef RTABMAP_G2O
1092  if(group.compare("g2o") == 0)
1093  {
1094  ignore = true;
1095  }
1096 #endif
1097 #ifndef RTABMAP_FOVIS
1098  if(group.compare("OdomFovis") == 0)
1099  {
1100  ignore = true;
1101  }
1102 #endif
1103 #ifndef RTABMAP_VISO2
1104  if(group.compare("OdomViso2") == 0)
1105  {
1106  ignore = true;
1107  }
1108 #endif
1109 #ifndef RTABMAP_ORBSLAM2
1110  if(group.compare("OdomORBSLAM2") == 0)
1111  {
1112  ignore = true;
1113  }
1114 #endif
1115 #ifndef RTABMAP_OKVIS
1116  if(group.compare("OdomOKVIS") == 0)
1117  {
1118  ignore = true;
1119  }
1120 #endif
1121 #if not defined(RTABMAP_LOAM) and not defined(RTABMAP_FLOAM)
1122  if(group.compare("OdomLOAM") == 0)
1123  {
1124  ignore = true;
1125  }
1126 #endif
1127 #ifndef RTABMAP_MSCKF_VIO
1128  if(group.compare("OdomMSCKF") == 0)
1129  {
1130  ignore = true;
1131  }
1132 #endif
1133  if(!ignore)
1134  {
1135  std::string str = "Param: " + iter->first + " = \"" + iter->second + "\"";
1136  std::cout <<
1137  str <<
1138  std::setw(60 - str.size()) <<
1139  " [" <<
1140  rtabmap::Parameters::getDescription(iter->first).c_str() <<
1141  "]" <<
1142  std::endl;
1143  }
1144  }
1145  exit(0);
1146  }
1147  else
1148  {
1149  std::string key = uReplaceChar(argv[i], '-', "");
1150  ParametersMap::const_iterator iter = parameters.find(key);
1151  if(iter != parameters.end())
1152  {
1153  ++i;
1154  if(i < argc)
1155  {
1156  uInsert(out, ParametersPair(iter->first, argv[i]));
1157  UINFO("Parsed parameter \"%s\"=\"%s\"", iter->first.c_str(), argv[i]);
1158  }
1159  }
1160  else
1161  {
1162  // backward compatibility
1163  std::map<std::string, std::pair<bool, std::string> >::const_iterator jter = removedParams.find(key);
1164  if(jter!=removedParams.end())
1165  {
1166  if(jter->second.first)
1167  {
1168  ++i;
1169  if(i < argc)
1170  {
1171  std::string value = argv[i];
1172  if(!value.empty())
1173  {
1174  value = uReplaceChar(value, ',', ' '); // for table
1175  key = jter->second.second;
1176  UWARN("Parameter migration from \"%s\" to \"%s\" (value=%s).",
1177  jter->first.c_str(), jter->second.second.c_str(), value.c_str());
1178  uInsert(out, ParametersPair(key, value));
1179  }
1180  }
1181  else
1182  {
1183  UERROR("Value missing for argument \"%s\"", argv[i-1]);
1184  }
1185  }
1186  else if(jter->second.second.empty())
1187  {
1188  UERROR("Parameter \"%s\" doesn't exist anymore.", jter->first.c_str());
1189  }
1190  else
1191  {
1192  UERROR("Parameter \"%s\" doesn't exist anymore, check this similar parameter \"%s\".", jter->first.c_str(), jter->second.second.c_str());
1193  }
1194  }
1195  }
1196  }
1197  }
1198  }
1199  return out;
1200 }
1201 
1202 void readINIImpl(const CSimpleIniA & ini, const std::string & configFilePath, ParametersMap & parameters, bool modifiedOnly)
1203 {
1204  const CSimpleIniA::TKeyVal * keyValMap = ini.GetSection("Core");
1205  if(keyValMap)
1206  {
1207  for(CSimpleIniA::TKeyVal::const_iterator iter=keyValMap->begin(); iter!=keyValMap->end(); ++iter)
1208  {
1209  std::string key = (*iter).first.pItem;
1210  if(key.compare("Version") == 0)
1211  {
1212  // Compare version in ini with the current RTAB-Map version
1213  std::vector<std::string> version = uListToVector(uSplit((*iter).second, '.'));
1214  if(version.size() == 3)
1215  {
1216  if(!RTABMAP_VERSION_COMPARE(std::atoi(version[0].c_str()), std::atoi(version[1].c_str()), std::atoi(version[2].c_str())))
1217  {
1218  if(configFilePath.find(".rtabmap") != std::string::npos)
1219  {
1220  UWARN("Version in the config file \"%s\" is more recent (\"%s\") than "
1221  "current RTAB-Map version used (\"%s\"). The config file will be upgraded "
1222  "to new version.",
1223  configFilePath.c_str(),
1224  (*iter).second,
1225  RTABMAP_VERSION);
1226  }
1227  else
1228  {
1229  UERROR("Version in the config file \"%s\" is more recent (\"%s\") than "
1230  "current RTAB-Map version used (\"%s\"). New parameters (if there are some) will "
1231  "be ignored.",
1232  configFilePath.c_str(),
1233  (*iter).second,
1234  RTABMAP_VERSION);
1235  }
1236  }
1237  }
1238  }
1239  else
1240  {
1241  key = uReplaceChar(key, '\\', '/'); // Ini files use \ by default for separators, so replace them
1242 
1243  // look for old parameter name
1244  std::map<std::string, std::pair<bool, std::string> >::const_iterator oldIter = Parameters::getRemovedParameters().find(key);
1245  if(oldIter!=Parameters::getRemovedParameters().end())
1246  {
1247  if(oldIter->second.first)
1248  {
1249  if(parameters.find(oldIter->second.second) == parameters.end())
1250  {
1251  key = oldIter->second.second;
1252  UINFO("Parameter migration from \"%s\" to \"%s\" (value=%s, default=%s).",
1253  oldIter->first.c_str(), oldIter->second.second.c_str(), iter->second, Parameters::getDefaultParameters().at(oldIter->second.second).c_str());
1254  }
1255  }
1256  else if(oldIter->second.second.empty())
1257  {
1258  UWARN("Parameter \"%s\" doesn't exist anymore.",
1259  oldIter->first.c_str());
1260  }
1261  else if(parameters.find(oldIter->second.second) == parameters.end())
1262  {
1263  UWARN("Parameter \"%s\" (value=%s) doesn't exist anymore, you may want to use this similar parameter \"%s (default=%s): %s\".",
1264  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());
1265  }
1266 
1267  }
1268 
1269  if(Parameters::getDefaultParameters().find(key) != Parameters::getDefaultParameters().end())
1270  {
1271  if(!modifiedOnly || std::string(iter->second).compare(Parameters::getDefaultParameters().find(key)->second) != 0)
1272  {
1273  uInsert(parameters, ParametersPair(key, iter->second));
1274  }
1275  }
1276  }
1277  }
1278  }
1279  else
1280  {
1281  ULOGGER_WARN("Section \"Core\" in %s doesn't exist... "
1282  "Ignore this warning if the ini file does not exist yet. "
1283  "The ini file will be automatically created when rtabmap will close.", configFilePath.c_str());
1284  }
1285 }
1286 
1287 
1288 void Parameters::readINI(const std::string & configFile, ParametersMap & parameters, bool modifiedOnly)
1289 {
1290  CSimpleIniA ini;
1291  ini.LoadFile(configFile.c_str());
1292  readINIImpl(ini, configFile, parameters, modifiedOnly);
1293 }
1294 
1295 void Parameters::readINIStr(const std::string & configContent, ParametersMap & parameters, bool modifiedOnly)
1296 {
1297  CSimpleIniA ini;
1298  ini.LoadData(configContent);
1299  readINIImpl(ini, "", parameters, modifiedOnly);
1300 }
1301 
1302 void Parameters::writeINI(const std::string & configFile, const ParametersMap & parameters)
1303 {
1304  CSimpleIniA ini;
1305  ini.LoadFile(configFile.c_str());
1306 
1307  // Save current version
1308  ini.SetValue("Core", "Version", RTABMAP_VERSION, NULL, true);
1309 
1310  for(ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
1311  {
1312  std::string key = iter->first;
1313  key = uReplaceChar(key, '/', '\\'); // Ini files use \ by default for separators, so replace the /
1314 
1315  std::string value = iter->second.c_str();
1316  value = uReplaceChar(value, '\\', '/'); // use always slash for values
1317 
1318  ini.SetValue("Core", key.c_str(), value.c_str(), NULL, true);
1319  }
1320 
1321  // Delete removed parameters
1322  if(parameters.size() == getDefaultParameters().size())
1323  {
1324  for(std::map<std::string, std::pair<bool, std::string> >::const_iterator iter = removedParameters_.begin();
1325  iter!=removedParameters_.end();
1326  ++iter)
1327  {
1328  std::string key = iter->first;
1329  key = uReplaceChar(key, '/', '\\'); // Ini files use \ by default for separators, so replace the /
1330 
1331  std::string value = ini.GetValue("Core", key.c_str(), "");
1332 
1333  if(ini.Delete("Core", key.c_str(), true))
1334  {
1335  if(iter->second.first && parameters.find(iter->second.second) != parameters.end())
1336  {
1337  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());
1338  }
1339  else
1340  {
1341  UWARN("Removed deprecated parameter %s=%s from \"%s\".", iter->first.c_str(), value.c_str(), configFile.c_str());
1342  }
1343  }
1344  }
1345  }
1346 
1347  ini.SaveFile(configFile.c_str());
1348 }
1349 
1350 }
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Definition: UFile.h:104
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Definition: Parameters.cpp:1202
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Definition: ULogger.h:55
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Definition: Parameters.cpp:1302
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Definition: Parameters.cpp:488
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Definition: DBDriver.cpp:64
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Definition: Parameters.cpp:109
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Definition: Parameters.h:969
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Definition: DBDriver.cpp:41

rtabmap
Author(s): Mathieu Labbe
autogenerated on Sun Dec 1 2024 03:42:50