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moved Rtabmap::[read,write]Parameters() and getVersion() to Parameters class (readINI(), writeINI() and getVersion()). Added Parameters::getDefaultOdometryParameters() and Parameters::isFeatureParameter() for convenience.

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This commit is contained in:
matlabbe
2015-11-26 13:16:01 -05:00
parent 63c96f39a3
commit 7d521819f0
8 changed files with 160 additions and 133 deletions
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corelib/src/Rtabmap.cpp
+1 -115
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@@ -44,8 +44,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UMath.h>
#include "SimpleIni.h"
#include <pcl/search/kdtree.h>
#include <pcl/filters/crop_box.h>
#include <pcl/io/pcd_io.h>
@@ -137,12 +135,6 @@ Rtabmap::~Rtabmap() {
this->close();
}
std::string Rtabmap::getVersion()
{
return RTABMAP_VERSION;
return ""; // Second return only to avoid compiler warning with RTABMAP_VERSION not yet set.
}
void Rtabmap::setupLogFiles(bool overwrite)
{
flushStatisticLogs();
@@ -313,7 +305,7 @@ void Rtabmap::init(const std::string & configFile, const std::string & databaseP
if(!configFile.empty())
{
ULOGGER_DEBUG("Read parameters from = %s", configFile.c_str());
this->readParameters(configFile, param);
Parameters::readINI(configFile, param);
}
this->init(param, databasePath);
@@ -3691,110 +3683,4 @@ void Rtabmap::updateGoalIndex()
}
}
void Rtabmap::readParameters(const std::string & configFile, ParametersMap & parameters)
{
CSimpleIniA ini;
ini.LoadFile(configFile.c_str());
const CSimpleIniA::TKeyVal * keyValMap = ini.GetSection("Core");
if(keyValMap)
{
for(CSimpleIniA::TKeyVal::const_iterator iter=keyValMap->begin(); iter!=keyValMap->end(); ++iter)
{
std::string key = (*iter).first.pItem;
if(key.compare("Version") == 0)
{
// Compare version in ini with the current RTAB-Map version
std::vector<std::string> version = uListToVector(uSplit((*iter).second, '.'));
if(version.size() == 3)
{
if(!RTABMAP_VERSION_COMPARE(std::atoi(version[0].c_str()), std::atoi(version[1].c_str()), std::atoi(version[2].c_str())))
{
if(configFile.find(".rtabmap") != std::string::npos)
{
UWARN("Version in the config file \"%s\" is more recent (\"%s\") than "
"current RTAB-Map version used (\"%s\"). The config file will be upgraded "
"to new version.",
configFile.c_str(),
(*iter).second,
RTABMAP_VERSION);
}
else
{
UERROR("Version in the config file \"%s\" is more recent (\"%s\") than "
"current RTAB-Map version used (\"%s\"). New parameters (if there are some) will "
"be ignored.",
configFile.c_str(),
(*iter).second,
RTABMAP_VERSION);
}
}
}
}
else
{
key = uReplaceChar(key, '\\', '/'); // Ini files use \ by default for separators, so replace them
// look for old parameter name
bool addParameter = true;
std::map<std::string, std::pair<bool, std::string> >::const_iterator oldIter = Parameters::getRemovedParameters().find(key);
if(oldIter!=Parameters::getRemovedParameters().end())
{
addParameter = oldIter->second.first;
if(addParameter)
{
key = oldIter->second.second;
UWARN("Parameter migration from \"%s\" to \"%s\" (value=%s).",
oldIter->first.c_str(), oldIter->second.second.c_str(), iter->second);
}
else if(oldIter->second.second.empty())
{
UWARN("Parameter \"%s\" doesn't exist anymore.",
oldIter->first.c_str());
}
else
{
UWARN("Parameter \"%s\" doesn't exist anymore, you may want to use this similar parameter \"%s\":\"%s\".",
oldIter->first.c_str(), oldIter->second.second.c_str(), Parameters::getDescription(oldIter->second.second).c_str());
}
}
ParametersMap::iterator jter = parameters.find(key);
if(jter != parameters.end())
{
parameters.erase(jter);
}
if(addParameter)
{
parameters.insert(ParametersPair(key, iter->second));
}
}
}
}
else
{
ULOGGER_WARN("Section \"Core\" in %s doesn't exist... "
"Ignore this warning if the ini file does not exist yet. "
"The ini file will be automatically created when this node will close.", configFile.c_str());
}
}
void Rtabmap::writeParameters(const std::string & configFile, const ParametersMap & parameters)
{
CSimpleIniA ini;
ini.LoadFile(configFile.c_str());
// Save current version
ini.SetValue("Core", "Version", RTABMAP_VERSION, NULL, true);
for(ParametersMap::const_iterator i=parameters.begin(); i!=parameters.end(); ++i)
{
std::string key = (*i).first;
key = uReplaceChar(key, '/', '\\'); // Ini files use \ by default for separators, so replace the /
ini.SetValue("Core", key.c_str(), (*i).second.c_str(), NULL, true);
}
ini.SaveFile(configFile.c_str());
}
} // namespace rtabmap