i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

0.17.5: added --version option on command line

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

2
CMakeLists.txt
View File

@@ -21,7 +21,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
####################### #######################
SET(RTABMAP_MAJOR_VERSION 0) SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 17) SET(RTABMAP_MINOR_VERSION 17)
SET(RTABMAP_PATCH_VERSION 4) SET(RTABMAP_PATCH_VERSION 5)
SET(RTABMAP_VERSION SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION}) ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})

6
app/src/main.cpp
View File

@@ -49,7 +49,7 @@ int main(int argc, char* argv[])
QApplication * app = new QApplication(argc, argv); QApplication * app = new QApplication(argc, argv);
app->setStyleSheet("QMessageBox { messagebox-text-interaction-flags: 5; }"); // selectable message box app->setStyleSheet("QMessageBox { messagebox-text-interaction-flags: 5; }"); // selectable message box
ParametersMap parameters = Parameters::parseArguments(argc, argv, true); ParametersMap parameters = Parameters::parseArguments(argc, argv, false);
MainWindow * mainWindow = new MainWindow(); MainWindow * mainWindow = new MainWindow();
app->installEventFilter(mainWindow); // to catch FileOpen events. app->installEventFilter(mainWindow); // to catch FileOpen events.
@@ -87,6 +87,10 @@ int main(int argc, char* argv[])
{ {
mainWindow->openDatabase(database.c_str(), parameters); mainWindow->openDatabase(database.c_str(), parameters);
} }
else if(parameters.size())
{
mainWindow->updateParameters(parameters);
}
// Now wait for application to finish // Now wait for application to finish
app->connect( app, SIGNAL( lastWindowClosed() ), app->connect( app, SIGNAL( lastWindowClosed() ),

199
corelib/src/Parameters.cpp
View File

@@ -514,7 +514,15 @@ void Parameters::parse(const ParametersMap & parameters, ParametersMap & paramet
const char * Parameters::showUsage() 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" " --nolog Disable logger\n"
" --logconsole Set logger console type\n" " --logconsole Set logger console type\n"
" --logfile \"path\" Set logger file type\n" " --logfile \"path\" Set logger file type\n"
@@ -526,12 +534,6 @@ const char * Parameters::showUsage()
" --logtime \"bool\" Print time when logging\n" " --logtime \"bool\" Print time when logging\n"
" --logwhere \"bool\" Print where when logging\n" " --logwhere \"bool\" Print where when logging\n"
" --logthread \"bool\" Print thread id 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; bool checkParameters = onlyParameters;
if(!checkParameters) 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); ULogger::setType(ULogger::kTypeNoLog);
} }

2
package.xml
View File

@@ -1,7 +1,7 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<package> <package>
<name>rtabmap</name> <name>rtabmap</name>
<version>0.17.4</version> <version>0.17.5</version>
<description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description> <description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer> <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author> <author>Mathieu Labbe</author>