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rtabmap-reprocess supports multiple input databases. Arguments "--params map.db" output parameters of the database in INI format

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matlabbe
2018-10-12 15:53:44 -04:00
parent 9f31830f03
commit 7fdd212462
2 changed files with 121 additions and 18 deletions
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45
corelib/src/Parameters.cpp
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@@ -26,10 +26,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "rtabmap/core/Parameters.h"
#include "rtabmap/core/DBDriver.h"
#include <rtabmap/utilite/UDirectory.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UFile.h>
#include <cmath>
#include <stdlib.h>
#include <sstream>
@@ -520,7 +522,9 @@ const char * Parameters::showUsage()
return "RTAB-Map options:\n"
" --help Show usage.\n"
" --version Show version of rtabmap and its dependencies.\n"
" --params Show all parameters with their default value and description\n"
" --params Show all parameters with their default value and description. \n"
" If a database path is set as last argument, the parameters in the \n"
" database will be shown in INI format.\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"
@@ -825,6 +829,43 @@ ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParam
{
if(strcmp(argv[i], "--params") == 0)
{
if (i < argc - 1)
{
// If the last argument is a database, dump the parameters in INI format
std::string dbName = argv[argc - 1];
if (UFile::exists(dbName) && UFile::getExtension(dbName).compare("db") == 0)
{
DBDriver * driver = DBDriver::create();
bool read = false;
if (driver->openConnection(dbName))
{
ParametersMap dbParameters = driver->getLastParameters();
if (!dbParameters.empty())
{
std::cout << "[Core]" << std::endl;
std::cout << "Version = " << RTABMAP_VERSION << std::endl;
for (ParametersMap::const_iterator iter = dbParameters.begin(); iter != dbParameters.end(); ++iter)
{
std::string key = iter->first;
key = uReplaceChar(key, '/', '\\'); // Ini files use \ by default for separators, so replace the /
std::string value = iter->second.c_str();
value = uReplaceChar(value, '\\', '/'); // use always slash for values
std::cout << key << " = " << value << std::endl;
}
read = true;
}
driver->closeConnection(false);
}
delete driver;
if (read)
{
exit(0);
}
}
}
for(rtabmap::ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
bool ignore = false;
@@ -890,8 +931,6 @@ ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParam
std::endl;
}
}
UWARN("App will now exit after showing default RTAB-Map parameters because "
"argument \"--params\" is detected!");
exit(0);
}
else