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RTAB-Map.exe can be started with parameters as arguments (in similar way than rtabmap-console)

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This commit is contained in:
matlabbe
2016-11-16 17:39:17 -05:00
parent daf0a9c6e8
commit ed83d90603
5 changed files with 197 additions and 141 deletions
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app/src/main.cpp
+7 -1
View File
@@ -47,6 +47,8 @@ int main(int argc, char* argv[])
/* Create tasks */
QApplication * app = new QApplication(argc, argv);
ParametersMap parameters = Parameters::parseArguments(argc, argv, true);
MainWindow * mainWindow = new MainWindow();
app->installEventFilter(mainWindow); // to catch FileOpen events.
@@ -82,7 +84,11 @@ int main(int argc, char* argv[])
if(!database.empty())
{
QMetaObject::invokeMethod(mainWindow, "openDatabase", Qt::QueuedConnection, Q_ARG(QString, QString(database.c_str())));
mainWindow->openDatabase(database.c_str());
}
if(parameters.size())
{
mainWindow->updateParameters(parameters);
}
// Now wait for application to finish
corelib/include/rtabmap/core/Parameters.h
+1 -1
View File
@@ -531,7 +531,7 @@ public:
static void parse(const ParametersMap & parameters, ParametersMap & parametersOut);
static const char * showUsage();
static ParametersMap parseArguments(int argc, char * argv[]);
static ParametersMap parseArguments(int argc, char * argv[], bool onlyParameters = false);
static std::string getVersion();
static std::string getDefaultDatabaseName();
corelib/src/Parameters.cpp
+137 -125
View File
@@ -507,160 +507,172 @@ const char * Parameters::showUsage()
;
}
ParametersMap Parameters::parseArguments(int argc, char * argv[])
ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParameters)
{
ParametersMap out;
const ParametersMap & parameters = getDefaultParameters();
const std::map<std::string, std::pair<bool, std::string> > & removedParams = getRemovedParameters();
for(int i=0;i<argc;++i)
{
if(strcmp(argv[i], "--nolog") == 0)
bool checkParameters = onlyParameters;
if(!checkParameters)
{
ULogger::setType(ULogger::kTypeNoLog);
}
else if(strcmp(argv[i], "--logconsole") == 0)
{
ULogger::setType(ULogger::kTypeConsole);
}
else if(strcmp(argv[i], "--logfile") == 0)
{
++i;
if(i < argc)
if(strcmp(argv[i], "--nolog") == 0)
{
ULogger::setType(ULogger::kTypeFile, argv[i], false);
ULogger::setType(ULogger::kTypeNoLog);
}
else
else if(strcmp(argv[i], "--logconsole") == 0)
{
UERROR("\"--logfile\" argument requires following file path");
ULogger::setType(ULogger::kTypeConsole);
}
}
else if(strcmp(argv[i], "--logfilea") == 0)
{
++i;
if(i < argc)
{
ULogger::setType(ULogger::kTypeFile, argv[i], true);
}
else
{
UERROR("\"--logfilea\" argument requires following file path");
}
}
else if(strcmp(argv[i], "--udebug") == 0)
{
ULogger::setLevel(ULogger::kDebug);
}
else if(strcmp(argv[i], "--uinfo") == 0)
{
ULogger::setLevel(ULogger::kInfo);
}
else if(strcmp(argv[i], "--uwarn") == 0)
{
ULogger::setLevel(ULogger::kWarning);
}
else if(strcmp(argv[i], "--uerror") == 0)
{
ULogger::setLevel(ULogger::kError);
}
else if(strcmp(argv[i], "--ulogtime") == 0)
{
++i;
if(i < argc)
{
ULogger::setPrintTime(uStr2Bool(argv[i]));
}
else
{
UERROR("\"--ulogtime\" argument requires a following boolean value");
}
}
else if(strcmp(argv[i], "--ulogwhere") == 0)
{
++i;
if(i < argc)
{
ULogger::setPrintWhere(uStr2Bool(argv[i]));
}
else
{
UERROR("\"--ulogwhere\" argument requires a following boolean value");
}
}
else if(strcmp(argv[i], "--ulogthread") == 0)
{
++i;
if(i < argc)
{
ULogger::setPrintThreadId(uStr2Bool(argv[i]));
}
else
{
UERROR("\"--ulogthread\" argument requires a following boolean value");
}
}
else if(strcmp(argv[i], "--params") == 0)
{
for(rtabmap::ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
std::string str = "Param: " + iter->first + " = \"" + iter->second + "\"";
std::cout <<
str <<
std::setw(60 - str.size()) <<
" [" <<
rtabmap::Parameters::getDescription(iter->first).c_str() <<
"]" <<
std::endl;
}
UWARN("App will now exit after showing default RTAB-Map parameters because "
"argument \"--params\" is detected!");
exit(0);
}
else // check for parameters
{
std::string key = uReplaceChar(argv[i], '-', "");
ParametersMap::const_iterator iter = parameters.find(key);
if(iter != parameters.end())
else if(strcmp(argv[i], "--logfile") == 0)
{
++i;
if(i < argc)
{
uInsert(out, ParametersPair(iter->first, argv[i]));
ULogger::setType(ULogger::kTypeFile, argv[i], false);
}
else
{
UERROR("\"--logfile\" argument requires following file path");
}
}
else if(strcmp(argv[i], "--logfilea") == 0)
{
++i;
if(i < argc)
{
ULogger::setType(ULogger::kTypeFile, argv[i], true);
}
else
{
UERROR("\"--logfilea\" argument requires following file path");
}
}
else if(strcmp(argv[i], "--udebug") == 0)
{
ULogger::setLevel(ULogger::kDebug);
}
else if(strcmp(argv[i], "--uinfo") == 0)
{
ULogger::setLevel(ULogger::kInfo);
}
else if(strcmp(argv[i], "--uwarn") == 0)
{
ULogger::setLevel(ULogger::kWarning);
}
else if(strcmp(argv[i], "--uerror") == 0)
{
ULogger::setLevel(ULogger::kError);
}
else if(strcmp(argv[i], "--ulogtime") == 0)
{
++i;
if(i < argc)
{
ULogger::setPrintTime(uStr2Bool(argv[i]));
}
else
{
UERROR("\"--ulogtime\" argument requires a following boolean value");
}
}
else if(strcmp(argv[i], "--ulogwhere") == 0)
{
++i;
if(i < argc)
{
ULogger::setPrintWhere(uStr2Bool(argv[i]));
}
else
{
UERROR("\"--ulogwhere\" argument requires a following boolean value");
}
}
else if(strcmp(argv[i], "--ulogthread") == 0)
{
++i;
if(i < argc)
{
ULogger::setPrintThreadId(uStr2Bool(argv[i]));
}
else
{
UERROR("\"--ulogthread\" argument requires a following boolean value");
}
}
else
{
// backward compatibility
std::map<std::string, std::pair<bool, std::string> >::const_iterator jter = removedParams.find(key);
if(jter!=removedParams.end())
checkParameters = true;
}
}
if(checkParameters) // check for parameters
{
if(strcmp(argv[i], "--params") == 0)
{
for(rtabmap::ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
if(jter->second.first)
std::string str = "Param: " + iter->first + " = \"" + iter->second + "\"";
std::cout <<
str <<
std::setw(60 - str.size()) <<
" [" <<
rtabmap::Parameters::getDescription(iter->first).c_str() <<
"]" <<
std::endl;
}
UWARN("App will now exit after showing default RTAB-Map parameters because "
"argument \"--params\" is detected!");
exit(0);
}
else
{
std::string key = uReplaceChar(argv[i], '-', "");
ParametersMap::const_iterator iter = parameters.find(key);
if(iter != parameters.end())
{
++i;
if(i < argc)
{
++i;
if(i < argc)
uInsert(out, ParametersPair(iter->first, argv[i]));
}
}
else
{
// backward compatibility
std::map<std::string, std::pair<bool, std::string> >::const_iterator jter = removedParams.find(key);
if(jter!=removedParams.end())
{
if(jter->second.first)
{
std::string value = argv[i];
if(!value.empty())
++i;
if(i < argc)
{
value = uReplaceChar(value, ',', ' '); // for table
key = jter->second.second;
UWARN("Parameter migration from \"%s\" to \"%s\" (value=%s).",
jter->first.c_str(), jter->second.second.c_str(), value.c_str());
uInsert(out, ParametersPair(key, value));
std::string value = argv[i];
if(!value.empty())
{
value = uReplaceChar(value, ',', ' '); // for table
key = jter->second.second;
UWARN("Parameter migration from \"%s\" to \"%s\" (value=%s).",
jter->first.c_str(), jter->second.second.c_str(), value.c_str());
uInsert(out, ParametersPair(key, value));
}
}
else
{
UERROR("Value missing for argument \"%s\"", argv[i-1]);
}
}
else if(jter->second.second.empty())
{
UERROR("Parameter \"%s\" doesn't exist anymore.", jter->first.c_str());
}
else
{
UERROR("Value missing for argument \"%s\"", argv[i-1]);
UERROR("Parameter \"%s\" doesn't exist anymore, check this similar parameter \"%s\".", jter->first.c_str(), jter->second.second.c_str());
}
}
else if(jter->second.second.empty())
{
UERROR("Parameter \"%s\" doesn't exist anymore.", jter->first.c_str());
}
else
{
UERROR("Parameter \"%s\" doesn't exist anymore, check this similar parameter \"%s\".", jter->first.c_str(), jter->second.second.c_str());
}
}
}
}
guilib/include/rtabmap/gui/MainWindow.h
+1
View File
@@ -110,6 +110,7 @@ public slots:
void processStats(const rtabmap::Statistics & stat);
void updateCacheFromDatabase(const QString & path);
void openDatabase(const QString & path);
void updateParameters(const rtabmap::ParametersMap & parameters);
protected:
virtual void closeEvent(QCloseEvent* event);
guilib/src/MainWindow.cpp
+51 -14
View File
@@ -3821,6 +3821,22 @@ void MainWindow::configGUIModified()
this->setWindowModified(true);
}
void MainWindow::updateParameters(const ParametersMap & parameters)
{
if(parameters.size())
{
for(ParametersMap::const_iterator iter= parameters.begin(); iter!=parameters.end(); ++iter)
{
QString msg = tr("Parameter update \"%1\"=\"%2\"")
.arg(iter->first.c_str())
.arg(iter->second.c_str());
_ui->widget_console->appendMsg(msg);
UWARN(msg.toStdString().c_str());
}
_preferencesDialog->updateParameters(parameters);
}
}
//ACTIONS
void MainWindow::saveConfigGUI()
{
@@ -4089,22 +4105,43 @@ void MainWindow::startDetection()
return;
}
}
if(bufferingSize != 0 &&
(_preferencesDialog->getSourceDriver() != PreferencesDialog::kSrcDatabase || !_preferencesDialog->isSourceDatabaseStampsUsed()))
if(_preferencesDialog->getSourceDriver() != PreferencesDialog::kSrcDatabase || !_preferencesDialog->isSourceDatabaseStampsUsed())
{
int button = QMessageBox::question(this,
tr("Some images may be skipped!"),
tr("\"RTAB-Map/Images buffer size\" is not infinite (size=%1). As the "
"source input is a directory of images/video/database, some images may be "
"skipped by the detector if the \"Source/Input rate\" (which is %2 Hz) is higher than the "
"rate at which RTAB-Map can process the images. You may want to set the "
"\"RTAB-Map/Images buffer size\" to 0 (infinite) to guaranty that all "
"images are processed. Would you want to start the detection "
"anyway?").arg(bufferingSize).arg(inputRate),
QMessageBox::Yes | QMessageBox::No);
if(button == QMessageBox::No)
if(bufferingSize != 0)
{
return;
int button = QMessageBox::question(this,
tr("Some images may be skipped!"),
tr("\"RTAB-Map/Images buffer size\" is not infinite (size=%1). As the "
"source input is a directory of images/video/database, some images may be "
"skipped by the detector if the \"Source/Input rate\" (which is %2 Hz) is higher than the "
"rate at which RTAB-Map can process the images. You may want to set the "
"\"RTAB-Map/Images buffer size\" to 0 (infinite) to guaranty that all "
"images are processed. Would you want to start the detection "
"anyway?").arg(bufferingSize).arg(inputRate),
QMessageBox::Yes | QMessageBox::No);
if(button == QMessageBox::No)
{
return;
}
}
else if(inputRate == 0)
{
int button = QMessageBox::question(this,
tr("Large number of images may be buffered!"),
tr("\"RTAB-Map/Images buffer size\" is infinite. As the "
"source input is a directory of images/video/database and "
"that \"Source/Input rate\" is infinite too, a lot of images "
"could be buffered at the same time (e.g., reading all images "
"of a directory at once). This could make the GUI not responsive. "
"You may want to set \"Source/Input rate\" at the rate at "
"which the images have been recorded. "
"Would you want to start the detection "
"anyway?").arg(bufferingSize).arg(inputRate),
QMessageBox::Yes | QMessageBox::No);
if(button == QMessageBox::No)
{
return;
}
}
}
}