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Added parameters backward compatibility approach from 0.11.0

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matlabbe
2015-11-26 13:35:21 -05:00
parent 542437c135
commit 82e9e9c806
3 changed files with 46 additions and 121 deletions
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src/CoreWrapper.cpp
+20 -71
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@@ -258,83 +258,32 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
}
// Backward compatibility
std::list<std::string> oldParameterNames;
oldParameterNames.push_back("LccReextract/LoopClosureFeatures");
oldParameterNames.push_back("Rtabmap/DetectorStrategy");
oldParameterNames.push_back("RGBD/ScanMatchingSize");
oldParameterNames.push_back("RGBD/LocalLoopDetectionRadius");
oldParameterNames.push_back("RGBD/ToroIterations");
oldParameterNames.push_back("Mem/RehearsedNodesKept");
oldParameterNames.push_back("Odom/PnPEstimation");
oldParameterNames.push_back("LccBow/MaxDepth");
oldParameterNames.push_back("GFTT/MaxCorners");
for(std::list<std::string>::iterator iter=oldParameterNames.begin(); iter!=oldParameterNames.end(); ++iter)
for(std::map<std::string, std::pair<bool, std::string> >::const_iterator iter=Parameters::getRemovedParameters().begin();
iter!=Parameters::getRemovedParameters().end();
++iter)
{
std::string vStr;
if(pnh.getParam(*iter, vStr))
if(pnh.getParam(iter->first, vStr))
{
if(iter->compare("GFTT/MaxCorners") == 0)
if(iter->second.first)
{
ROS_WARN("Parameter name changed: GFTT/MaxCorners -> %s. Please update your launch file accordingly.",
Parameters::kKpWordsPerImage().c_str());
// can be migrated
parameters_.at(iter->second.second)= vStr;
ROS_WARN("Rtabmap: Parameter name changed: \"%s\" -> \"%s\". Please update your launch file accordingly. Value \"%s\" is still set to the new parameter name.",
iter->first.c_str(), iter->second.second.c_str(), vStr.c_str());
}
else if(iter->compare("LccBow/MaxDepth") == 0)
else
{
ROS_WARN("Parameter name changed: LccBow/MaxDepth -> %s. Please update your launch file accordingly.",
Parameters::kLccReextractMaxDepth().c_str());
parameters_.at(Parameters::kLccReextractMaxDepth())= vStr;
}
else if(iter->compare("LccReextract/LoopClosureFeatures") == 0)
{
ROS_WARN("Parameter name changed: LccReextract/LoopClosureFeatures -> %s. Please update your launch file accordingly.",
Parameters::kLccReextractActivated().c_str());
parameters_.at(Parameters::kLccReextractActivated())= vStr;
}
else if(iter->compare("Rtabmap/DetectorStrategy") == 0)
{
ROS_WARN("Parameter name changed: Rtabmap/DetectorStrategy -> %s. Please update your launch file accordingly.",
Parameters::kKpDetectorStrategy().c_str());
parameters_.at(Parameters::kKpDetectorStrategy())= vStr;
}
else if(iter->compare("RGBD/ScanMatchingSize") == 0)
{
ROS_WARN("Parameter name changed: RGBD/ScanMatchingSize -> %s. Please update your launch file accordingly.",
Parameters::kRGBDPoseScanMatching().c_str());
parameters_.at(Parameters::kRGBDPoseScanMatching())= std::atoi(vStr.c_str()) > 0?"true":"false";
}
else if(iter->compare("RGBD/LocalLoopDetectionRadius") == 0)
{
ROS_WARN("Parameter name changed: RGBD/LocalLoopDetectionRadius -> %s. Please update your launch file accordingly.",
Parameters::kRGBDLocalRadius().c_str());
parameters_.at(Parameters::kRGBDLocalRadius())= vStr;
}
else if(iter->compare("RGBD/ToroIterations") == 0)
{
ROS_WARN("Parameter name changed: RGBD/ToroIterations -> %s. Please update your launch file accordingly.",
Parameters::kRGBDOptimizeIterations().c_str());
parameters_.at(Parameters::kRGBDOptimizeIterations())= vStr;
}
else if(iter->compare("Mem/RehearsedNodesKept") == 0)
{
ROS_WARN("Parameter name changed: Mem/RehearsedNodesKept -> %s. Please update your launch file accordingly.",
Parameters::kMemNotLinkedNodesKept().c_str());
parameters_.at(Parameters::kMemNotLinkedNodesKept())= vStr;
}
else if(iter->compare("RGBD/LocalLoopDetectionMaxDiffID") == 0)
{
ROS_WARN("Parameter name changed: RGBD/LocalLoopDetectionMaxDiffID -> %s. Please update your launch file accordingly.",
Parameters::kRGBDLocalLoopDetectionMaxGraphDepth().c_str());
parameters_.at(Parameters::kRGBDLocalLoopDetectionMaxGraphDepth())= vStr;
}
else if(iter->compare("RGBD/PlanVirtualLinksMaxDiffID") == 0)
{
ROS_WARN("Parameter \"RGBD/PlanVirtualLinksMaxDiffID\" doesn't exist anymore.");
}
else if(iter->compare("RGBD/LocalLoopDetectionMaxDiffID") == 0)
{
ROS_WARN("Parameter name changed: Odom/PnPEstimation -> %s. Please update your launch file accordingly.",
Parameters::kOdomEstimationType().c_str());
parameters_.at(Parameters::kOdomEstimationType())= uNumber2Str(1);
if(iter->second.second.empty())
{
ROS_WARN("Rtabmap: Parameter \"%s\" doesn't exist anymore!",
iter->first.c_str());
}
else
{
ROS_WARN("Rtabmap: Parameter \"%s\" doesn't exist anymore! You may look at this similar parameter: \"%s\"",
iter->first.c_str(), iter->second.second.c_str());
}
}
}
}