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Added Parameters::parseArguments() and Parameters::showUsage() functions for convenience. Updated OdometryViewer and Console tools to use parseArguments().

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This commit is contained in:
matlabbe
2016-03-11 16:54:54 -05:00
parent 33525b292f
commit 0ae17ff17d
13 changed files with 363 additions and 667 deletions
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5
corelib/include/rtabmap/core/Parameters.h
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@@ -419,7 +419,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.05, "Max distance for point correspondences.");
RTABMAP_PARAM(Icp, Iterations, int, 30, "Max iterations.");
RTABMAP_PARAM(Icp, Epsilon, float, 0.0, "Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.");
RTABMAP_PARAM(Icp, CorrespondenceRatio, float, 0.3, "Ratio of matching correspondences to accept the transform.");
RTABMAP_PARAM(Icp, CorrespondenceRatio, float, 0.2, "Ratio of matching correspondences to accept the transform.");
RTABMAP_PARAM(Icp, PointToPlane, bool, false, "Use point to plane ICP.");
RTABMAP_PARAM(Icp, PointToPlaneNormalNeighbors, int, 20, "Number of neighbors to compute normals for point to plane.");
@@ -476,6 +476,9 @@ public:
static void parse(const ParametersMap & parameters, const std::string & key, std::string & value);
static void parse(const ParametersMap & parameters, ParametersMap & parametersOut);
static const char * showUsage();
static ParametersMap parseArguments(int argc, char * argv[]);
static std::string getVersion();
static std::string getDefaultDatabaseName();

4
corelib/src/CameraThread.cpp
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@@ -161,7 +161,7 @@ void CameraThread::mainLoop()
data.setDepthOrRightRaw(depth);
data.setStereoCameraModel(StereoCameraModel());
info.timeDisparity = timer.ticks();
UINFO("Computing disparity = %f s", info.timeDisparity);
UDEBUG("Computing disparity = %f s", info.timeDisparity);
}
if(_scanFromDepth &&
data.cameraModels().size() &&
@@ -200,7 +200,7 @@ void CameraThread::mainLoop()
}
data.setLaserScanRaw(scan, (int)maxPoints, _scanMaxDepth);
info.timeScanFromDepth = timer.ticks();
UINFO("Computing scan from depth = %f s", info.timeScanFromDepth);
UDEBUG("Computing scan from depth = %f s", info.timeScanFromDepth);
}
else
{

1
corelib/src/Memory.cpp
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@@ -3052,6 +3052,7 @@ void Memory::copyData(const Signature * from, Signature * to)
to->setPose(from->getPose());
to->setWords3(from->getWords3());
to->setWordsDescriptors(from->getWordsDescriptors());
}
else
{

6
corelib/src/OdometryF2M.cpp
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@@ -253,7 +253,7 @@ Transform OdometryF2M::computeTransform(
if(regPipeline_->isImageRequired() &&
(keyFrameThr_==0 || float(regInfo.inliers) <= keyFrameThr_*float(lastFrame_->sensorData().keypoints().size())))
{
UDEBUG("Update local map");
UDEBUG("Update local map (ratio=%f < %f)", float(regInfo.inliers)/float(lastFrame_->sensorData().keypoints().size()), keyFrameThr_);
// update local map
UASSERT(mapWords.size() == mapPoints.size());
@@ -326,7 +326,7 @@ Transform OdometryF2M::computeTransform(
if(regPipeline_->isScanRequired() &&
(scanKeyFrameThr_==0 || regInfo.icpInliersRatio <= scanKeyFrameThr_))
{
UINFO("Update local scan map %d", lastFrame_->id());
UINFO("Update local scan map %d (ratio=%f < %f)", lastFrame_->id(), regInfo.icpInliersRatio, scanKeyFrameThr_);
pcl::PointCloud<pcl::PointNormal>::Ptr mapCloudNormals = util3d::laserScanToPointCloudNormal(mapScan);
pcl::PointCloud<pcl::PointNormal>::Ptr frameCloudNormals = util3d::laserScanToPointCloudNormal(lastFrame_->sensorData().laserScanRaw(), newFramePose);
@@ -386,8 +386,6 @@ Transform OdometryF2M::computeTransform(
map_->setWords(mapWords);
map_->setWords3(mapPoints);
map_->setWordsDescriptors(mapDescriptors);
UINFO("Updated map: %d added %d removed (new map size=%d)", added, removed, (int)mapPoints.size());
}
}
else

186
corelib/src/Parameters.cpp
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@@ -33,6 +33,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <cmath>
#include <stdlib.h>
#include <sstream>
#include <iostream>
#include <iomanip>
#include "SimpleIni.h"
namespace rtabmap
@@ -384,6 +386,190 @@ void Parameters::parse(const ParametersMap & parameters, ParametersMap & paramet
}
}
const char * Parameters::showUsage()
{
return "Logger options:\n"
" --nolog Disable logger\n"
" --logconsole Set logger console type\n"
" --logfile \"path\" Set logger file type\n"
" --logfilea \"path\" Set logger file type with appending mode if the file already exists\n"
" --udebug Set logger level to debug\n"
" --uinfo Set logger level to info\n"
" --uwarn Set logger level to warn\n"
" --uerror Set logger level to error\n"
" --logtime \"bool\" Print time when logging\n"
" --logwhere \"bool\" Print where when logging\n"
" --logthread \"bool\" Print thread id when logging\n"
"RTAB-Map options:\n"
" --params Show all parameters with their default value and description\n"
" --\"parameter name\" \"value\" Overwrite a specific RTAB-Map's parameter :\n"
" --SURF/HessianThreshold 150\n"
" For parameters in table format, add ',' between values :\n"
" --Kp/RoiRatios 0,0,0.1,0\n"
;
}
ParametersMap Parameters::parseArguments(int argc, char * argv[])
{
ParametersMap out;
const ParametersMap & parameters = getDefaultParameters();
const std::map<std::string, std::pair<bool, std::string> > & removedParams = getRemovedParameters();
for(int i=0;i<argc;++i)
{
if(strcmp(argv[i], "--nolog") == 0)
{
ULogger::setType(ULogger::kTypeNoLog);
}
else if(strcmp(argv[i], "--logconsole") == 0)
{
ULogger::setType(ULogger::kTypeConsole);
}
else if(strcmp(argv[i], "--logfile") == 0)
{
++i;
if(i < argc)
{
ULogger::setType(ULogger::kTypeFile, argv[i], false);
}
else
{
UERROR("\"--logfile\" argument requires following file path");
}
}
else if(strcmp(argv[i], "--logfilea") == 0)
{
++i;
if(i < argc)
{
ULogger::setType(ULogger::kTypeFile, argv[i], true);
}
else
{
UERROR("\"--logfilea\" argument requires following file path");
}
}
else if(strcmp(argv[i], "--udebug") == 0)
{
ULogger::setLevel(ULogger::kDebug);
}
else if(strcmp(argv[i], "--uinfo") == 0)
{
ULogger::setLevel(ULogger::kInfo);
}
else if(strcmp(argv[i], "--uwarn") == 0)
{
ULogger::setLevel(ULogger::kWarning);
}
else if(strcmp(argv[i], "--uerror") == 0)
{
ULogger::setLevel(ULogger::kError);
}
else if(strcmp(argv[i], "--ulogtime") == 0)
{
++i;
if(i < argc)
{
ULogger::setPrintTime(uStr2Bool(argv[i]));
}
else
{
UERROR("\"--ulogtime\" argument requires a following boolean value");
}
}
else if(strcmp(argv[i], "--ulogwhere") == 0)
{
++i;
if(i < argc)
{
ULogger::setPrintWhere(uStr2Bool(argv[i]));
}
else
{
UERROR("\"--ulogwhere\" argument requires a following boolean value");
}
}
else if(strcmp(argv[i], "--ulogthread") == 0)
{
++i;
if(i < argc)
{
ULogger::setPrintThreadId(uStr2Bool(argv[i]));
}
else
{
UERROR("\"--ulogthread\" argument requires a following boolean value");
}
}
else if(strcmp(argv[i], "--params") == 0)
{
for(rtabmap::ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
std::string str = "Param: " + iter->first + " = \"" + iter->second + "\"";
std::cout <<
str <<
std::setw(60 - str.size()) <<
" [" <<
rtabmap::Parameters::getDescription(iter->first).c_str() <<
"]" <<
std::endl;
}
UWARN("App will now exit after showing default RTAB-Map parameters because "
"argument \"--params\" is detected!");
exit(0);
}
else // check for parameters
{
std::string key = uReplaceChar(argv[i], '-', "");
ParametersMap::const_iterator iter = parameters.find(key);
if(iter != parameters.end())
{
++i;
if(i < argc)
{
uInsert(out, ParametersPair(iter->first, argv[i]));
}
}
else
{
// backward compatibility
std::map<std::string, std::pair<bool, std::string> >::const_iterator jter = removedParams.find(key);
if(jter!=removedParams.end())
{
if(jter->second.first)
{
++i;
if(i < argc)
{
std::string value = argv[i];
if(!value.empty())
{
value = uReplaceChar(value, ',', ' '); // for table
key = jter->second.second;
UWARN("Parameter migration from \"%s\" to \"%s\" (value=%s).",
jter->first.c_str(), jter->second.second.c_str(), value.c_str());
uInsert(out, ParametersPair(key, value));
}
}
else
{
UERROR("Value missing for argument \"%s\"", argv[i-1]);
}
}
else if(jter->second.second.empty())
{
UERROR("Parameter \"%s\" doesn't exist anymore.", jter->first.c_str());
}
else
{
UERROR("Parameter \"%s\" doesn't exist anymore, check this similar parameter \"%s\".", jter->first.c_str(), jter->second.second.c_str());
}
}
}
}
}
return out;
}
void Parameters::readINI(const std::string & configFile, ParametersMap & parameters)
{

1
corelib/src/RegistrationIcp.cpp
View File

@@ -180,6 +180,7 @@ Transform RegistrationIcp::computeTransformationImpl(
pcl::PointCloud<pcl::PointXYZ>::Ptr fromCloud = util3d::laserScanToPointCloud(fromScan, Transform());
pcl::PointCloud<pcl::PointXYZ>::Ptr toCloud = util3d::laserScanToPointCloud(toScan, guess);
UDEBUG("Conversion time = %f s", timer.ticks());
pcl::PointCloud<pcl::PointXYZ>::Ptr fromCloudFiltered = fromCloud;
pcl::PointCloud<pcl::PointXYZ>::Ptr toCloudFiltered = toCloud;
bool filtered = false;

10
corelib/src/Rtabmap.cpp
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@@ -377,10 +377,6 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
ULOGGER_DEBUG("");
ParametersMap::const_iterator iter;
if((iter=parameters.find(Parameters::kRtabmapWorkingDirectory())) != parameters.end())
{
this->setWorkingDirectory(iter->second.c_str());
}
Parameters::parse(parameters, Parameters::kRtabmapPublishStats(), _publishStats);
Parameters::parse(parameters, Parameters::kRtabmapPublishLastSignature(), _publishLastSignatureData);
@@ -488,6 +484,12 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
{
_bayesFilter->parseParameters(parameters);
}
// update working directory at the end
if((iter=parameters.find(Parameters::kRtabmapWorkingDirectory())) != parameters.end())
{
this->setWorkingDirectory(iter->second.c_str());
}
}
int Rtabmap::getLastLocationId() const

3
corelib/src/util3d.cpp
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@@ -291,9 +291,10 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFromDepth(
}
}
}
if(validIndices)
{
validIndices->reserve(oi);
validIndices->resize(oi);
}
return cloud;