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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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tools/ConsoleApp/main.cpp
+14 -136
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@@ -55,17 +55,10 @@ void showUsage()
" -createGT Generate a ground truth file\n"
" -start_at # When \"path\" is a directory of images, set this parameter\n"
" to start processing at image # (default 1).\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"
" -default_params Show default RTAB-Map's parameters\n"
" -debug Set Log level to Debug (Default Error)\n"
" -info Set Log level to Info (Default Error)\n"
" -warn Set Log level to Warning (Default Error)\n"
" -log_console Log to console\n"
" -v Get version of RTAB-Map\n"
" -input \"path\" Load previous database if it exists.\n");
" -input \"path\" Load previous database if it exists.\n"
"%s\n",
rtabmap::Parameters::showUsage());
exit(1);
}
@@ -83,11 +76,6 @@ int main(int argc, char * argv[])
signal(SIGTERM, &sighandler);
signal(SIGINT, &sighandler);
/*for(int i=0; i<argc; i++)
{
printf("argv[%d] = %s\n", i, argv[i]);
}*/
const ParametersMap & defaultParameters = Parameters::getDefaultParameters();
if(argc < 2)
{
showUsage();
@@ -97,14 +85,6 @@ int main(int argc, char * argv[])
printf("%s\n", Parameters::getVersion().c_str());
exit(0);
}
else if(argc == 2 && (strcmp(argv[1], "-default_params") == 0 || strcmp(argv[1], "--params") == 0))
{
for(ParametersMap::const_iterator iter = defaultParameters.begin(); iter!=defaultParameters.end(); ++iter)
{
printf("%s=%s\n", iter->first.c_str(), iter->second.c_str());
}
exit(0);
}
printf("\n");
std::string path;
@@ -114,9 +94,8 @@ int main(int argc, char * argv[])
bool createGT = false;
std::string inputDbPath;
int startAt = 1;
ParametersMap pm;
ULogger::Level logLevel = ULogger::kError;
bool logConsole = false;
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kWarning);
for(int i=1; i<argc; ++i)
{
@@ -222,123 +201,21 @@ int main(int argc, char * argv[])
}
continue;
}
if(strcmp(argv[i], "-debug") == 0)
if(strcmp(argv[i], "-help") == 0 || strcmp(argv[i], "--help") == 0)
{
logLevel = ULogger::kDebug;
continue;
showUsage();
}
if(strcmp(argv[i], "-info") == 0)
{
logLevel = ULogger::kInfo;
continue;
}
if(strcmp(argv[i], "-warn") == 0)
{
logLevel = ULogger::kWarning;
continue;
}
if(strcmp(argv[i], "-log_console") == 0)
{
logConsole = true;
continue;
}
// Check for RTAB-Map's parameters
std::string key = argv[i];
key = uSplit(key, '-').back();
if(defaultParameters.find(key) != defaultParameters.end())
{
++i;
if(i < argc)
{
std::string value = argv[i];
if(value.empty())
{
showUsage();
}
else
{
value = uReplaceChar(value, ',', ' ');
}
std::pair<ParametersMap::iterator, bool> inserted = pm.insert(ParametersPair(key, value));
if(inserted.second == false)
{
inserted.first->second = value;
}
}
else
{
showUsage();
}
continue;
}
//backward compatibility
// look for old parameter name
std::map<std::string, std::pair<bool, std::string> >::const_iterator oldIter = Parameters::getRemovedParameters().find(key);
if(oldIter!=Parameters::getRemovedParameters().end())
{
++i;
if(i < argc)
{
std::string value = argv[i];
if(value.empty())
{
showUsage();
}
else
{
value = uReplaceChar(value, ',', ' ');
}
if(oldIter->second.first)
{
key = oldIter->second.second;
UWARN("Parameter migration from \"%s\" to \"%s\" (value=%s).",
oldIter->first.c_str(), oldIter->second.second.c_str(), value.c_str());
}
else if(oldIter->second.second.empty())
{
UERROR("Parameter \"%s\" doesn't exist anymore.", oldIter->first.c_str());
}
else
{
UERROR("Parameter \"%s\" doesn't exist anymore, check this similar parameter \"%s\".", oldIter->first.c_str(), oldIter->second.second.c_str());
}
if(oldIter->second.first)
{
std::pair<ParametersMap::iterator, bool> inserted = pm.insert(ParametersPair(key, value));
if(inserted.second == false)
{
inserted.first->second = value;
}
}
}
else
{
showUsage();
}
continue;
}
printf("Unrecognized option : %s\n", argv[i]);
showUsage();
}
ParametersMap pm = Parameters::parseArguments(argc, argv);
pm.insert(ParametersPair(Parameters::kRtabmapWorkingDirectory(), "."));
if(repeat && createGT)
{
printf("Cannot create a Ground truth if repeat is on.\n");
showUsage();
}
if(logConsole)
{
ULogger::setType(ULogger::kTypeConsole);
}
//ULogger::setType(ULogger::kTypeFile, rtabmap.getWorkingDir()+"/LogConsole.txt", false);
//ULogger::setBuffered(true);
ULogger::setLevel(logLevel);
UTimer timer;
timer.start();
std::queue<double> iterationMeanTime;
@@ -376,13 +253,14 @@ int main(int argc, char * argv[])
{
printf("Loading database \"%s\".\n", inputDbPath.c_str());
}
// Disable statistics (we don't need them)
pm.insert(ParametersPair(Parameters::kRtabmapPublishStats(), "false"));
pm.insert(ParametersPair(Parameters::kRGBDEnabled(), "false"));
uInsert(pm, ParametersPair(Parameters::kRtabmapPublishStats(), "false"));
uInsert(pm, ParametersPair(Parameters::kRGBDEnabled(), "false"));
rtabmap.init(pm, inputDbPath);
printf("Avpd init time = %fs\n", timer.ticks());
printf("rtabmap init time = %fs\n", timer.ticks());
// Start thread's task
int loopClosureId;