rtabmap::Parameters Class Reference

#include <Parameters.h>

Static Public Member Functions
static const ParametersMap &	getDefaultParameters ()
static std::string	getType (const std::string &paramKey)
static std::string	getDescription (const std::string &paramKey)
static bool	parse (const ParametersMap &parameters, const std::string &key, bool &value)
static bool	parse (const ParametersMap &parameters, const std::string &key, int &value)
static bool	parse (const ParametersMap &parameters, const std::string &key, unsigned int &value)
static bool	parse (const ParametersMap &parameters, const std::string &key, float &value)
static bool	parse (const ParametersMap &parameters, const std::string &key, double &value)
static bool	parse (const ParametersMap &parameters, const std::string &key, std::string &value)
static void	parse (const ParametersMap &parameters, ParametersMap &parametersOut)
static const char *	showUsage ()
static ParametersMap	parseArguments (int argc, char *argv[], bool onlyParameters=false)
static std::string	getVersion ()
static std::string	getDefaultDatabaseName ()
static std::string	serialize (const ParametersMap &parameters)
static ParametersMap	deserialize (const std::string &parameters)
static bool	isFeatureParameter (const std::string &param)
static ParametersMap	getDefaultOdometryParameters (bool stereo=false, bool vis=true, bool icp=false)
static ParametersMap	getDefaultParameters (const std::string &group)
static ParametersMap	filterParameters (const ParametersMap &parameters, const std::string &group, bool remove=false)
static void	readINI (const std::string &configFile, ParametersMap &parameters, bool modifiedOnly=false)
static void	readINIStr (const std::string &configContent, ParametersMap &parameters, bool modifiedOnly=false)
static void	writeINI (const std::string &configFile, const ParametersMap &parameters)
static const std::map< std::string, std::pair< bool, std::string > > &	getRemovedParameters ()
static const ParametersMap &	getBackwardCompatibilityMap ()
static std::string	createDefaultWorkingDirectory ()

Detailed Description

Class Parameters. This class is used to manage all custom parameters we want in the application. It was designed to be very easy to add a new parameter (just by adding one line of code). The macro PARAM(PREFIX, NAME, TYPE, DEFAULT_VALUE) is used to create a parameter in this class. A parameter can be accessed after by Parameters::defaultPARAMETERNAME() for the default value, Parameters::kPARAMETERNAME for his key (parameter name). The class provides also a general map containing all the parameter's key and default value. This map can be accessed anywhere in the application by Parameters::getDefaultParameters(); Example:

//Defining a parameter in this class with the macro PARAM:
PARAM(Video, ImageWidth, int, 640);
 
// Now from anywhere in the application (Parameters is a singleton)
int width = Parameters::defaultVideoImageWidth(); // theDefaultValue = 640
std::string theKey = Parameters::kVideoImageWidth(); // theKey = "Video/ImageWidth"
std::string strValue = Util::value(Parameters::getDefaultParameters(), theKey); // strValue = "640"

See also

getDefaultParameters() TODO Add a detailed example with simple classes

Definition at line 170 of file Parameters.h.

Member Function Documentation

getDefaultParameters()

static const ParametersMap & rtabmap::Parameters::getDefaultParameters ( )

inlinestatic

Get default parameters

Definition at line 978 of file Parameters.h.

getType()

static std::string rtabmap::Parameters::getType ( const std::string &  paramKey )

static

Get parameter type

getDescription()

static std::string rtabmap::Parameters::getDescription ( const std::string &  paramKey )

static

Get parameter description

filterParameters()

static ParametersMap rtabmap::Parameters::filterParameters ( const ParametersMap &  parameters, const std::string &  group, bool  remove = false  )

static

If remove=false: keep only parameters of the specified group. If remove=true: remove parameters of the specified group.

getRemovedParameters()

static const std::map< std::string, std::pair< bool, std::string > > & rtabmap::Parameters::getRemovedParameters ( )

static

Get removed parameters (backward compatibility) <OldKeyName, <isEqual, NewKeyName> >, when isEqual=true, the old value can be safely copied to new parameter

getBackwardCompatibilityMap()

static const ParametersMap & rtabmap::Parameters::getBackwardCompatibilityMap ( )

static

<NewKeyName, OldKeyName>

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The documentation for this class was generated from the following file:

• corelib/include/rtabmap/core/Parameters.h