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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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262
corelib/src/Parameters.cpp
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@@ -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());
}
}
}
}