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0.17.5: added --version option on command line

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This commit is contained in:
matlabbe
2018-08-14 14:21:44 -04:00
parent 714d95cc34
commit b8847fd006
4 changed files with 198 additions and 11 deletions
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199
corelib/src/Parameters.cpp
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@@ -514,7 +514,15 @@ void Parameters::parse(const ParametersMap & parameters, ParametersMap & paramet
const char * Parameters::showUsage()
{
return "Logger options:\n"
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"
" --\"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"
"Logger options:\n"
" --nolog Disable logger\n"
" --logconsole Set logger console type\n"
" --logfile \"path\" Set logger file type\n"
@@ -526,12 +534,6 @@ const char * Parameters::showUsage()
" --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"
;
}
@@ -545,7 +547,188 @@ ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParam
bool checkParameters = onlyParameters;
if(!checkParameters)
{
if(strcmp(argv[i], "--nolog") == 0)
if(strcmp(argv[i], "--help") == 0)
{
std::cout << showUsage() << std::endl;
exit(0);
}
else if(strcmp(argv[i], "--version") == 0)
{
std::string str = "RTAB-Map:";
int spacing = 30;
std::cout << str << std::setw(spacing - str.size()) << RTABMAP_VERSION << std::endl;
str = "OpenCV:";
#ifdef RTABMAP_OPENCV3
std::cout << str << std::setw(spacing - str.size()) << "3" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "2" << std::endl;
#endif
str = "With OpenCV nonfree:";
#ifdef RTABMAP_NONFREE
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With TORO:";
#ifdef RTABMAP_TORO
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With g2o:";
#ifdef RTABMAP_G2O
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With GTSAM:";
#ifdef RTABMAP_GTSAM
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With Vertigo:";
#ifdef RTABMAP_VERTIGO
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With CVSBA:";
#ifdef RTABMAP_CVSBA
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With OpenNI2:";
#ifdef RTABMAP_OPENNI2
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With Freenect:";
#ifdef RTABMAP_FREENECT
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With Freenect2:";
#ifdef RTABMAP_FREENECT2
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With K4W2:";
#ifdef RTABMAP_K4W2
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With DC1394:";
#ifdef RTABMAP_DC1394
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With FlyCapture2:";
#ifdef RTABMAP_FLYCAPTURE2
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With ZED:";
#ifdef RTABMAP_ZED
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With RealSense:";
#ifdef RTABMAP_REALSENSE
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With RealSense SLAM:";
#ifdef RTABMAP_REALSENSE_SLAM
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With RealSense2:";
#ifdef RTABMAP_REALSENSE2
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With libpointmatcher:";
#ifdef RTABMAP_POINTMATCHER
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With octomap:";
#ifdef RTABMAP_OCTOMAP
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With cpu-tsdf:";
#ifdef RTABMAP_CPUTSDF
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With open chisel:";
#ifdef RTABMAP_OPENCHISEL
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With LOAM:";
#ifdef RTABMAP_LOAM
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With FOVIS:";
#ifdef RTABMAP_FOVIS
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With Viso2:";
#ifdef RTABMAP_VISO2
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With DVO:";
#ifdef RTABMAP_DVO
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With ORB_SLAM2:";
#ifdef RTABMAP_ORB_SLAM2
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With OKVIS:";
#ifdef RTABMAP_OKVIS
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With MSCKF_VIO:";
#ifdef RTABMAP_MSCKF_VIO
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
exit(0);
}
else if(strcmp(argv[i], "--nolog") == 0)
{
ULogger::setType(ULogger::kTypeNoLog);
}