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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/OdometryROS.cpp
+25 -49
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@@ -174,7 +174,7 @@ OdometryROS::OdometryROS(int argc, char * argv[], bool stereo) :
iter->second = uNumber2Str(vInt);
}
if(iter->first.compare(Parameters::kOdomMinInliers()) == 0 && atoi(iter->second.c_str()) < 8)
if(iter->first.compare(Parameters::kVisMinInliers()) == 0 && atoi(iter->second.c_str()) < 8)
{
ROS_WARN("Parameter min_inliers must be >= 8, setting to 8...");
iter->second = uNumber2Str(8);
@@ -182,54 +182,32 @@ OdometryROS::OdometryROS(int argc, char * argv[], bool stereo) :
}
// Backward compatibility
std::list<std::string> oldParameterNames;
oldParameterNames.push_back("Odom/Type");
oldParameterNames.push_back("Odom/MaxWords");
oldParameterNames.push_back("Odom/WordsRatio");
oldParameterNames.push_back("Odom/LocalHistory");
oldParameterNames.push_back("Odom/NearestNeighbor");
oldParameterNames.push_back("Odom/NNDR");
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("Odom/Type") == 0)
if(iter->second.first)
{
ROS_WARN("Parameter name changed: Odom/Type -> %s. Please update your launch file accordingly.",
Parameters::kOdomFeatureType().c_str());
parameters_.at(Parameters::kOdomFeatureType())= vStr;
// can be migrated
parameters_.at(iter->second.second)= vStr;
ROS_WARN("Odometry: 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("Odom/MaxWords") == 0)
else
{
ROS_WARN("Parameter name changed: Odom/MaxWords -> %s. Please update your launch file accordingly.",
Parameters::kOdomMaxFeatures().c_str());
parameters_.at(Parameters::kOdomMaxFeatures())= vStr;
}
else if(iter->compare("Odom/LocalHistory") == 0)
{
ROS_WARN("Parameter name changed: Odom/LocalHistory -> %s. Please update your launch file accordingly.",
Parameters::kOdomBowLocalHistorySize().c_str());
parameters_.at(Parameters::kOdomBowLocalHistorySize())= vStr;
}
else if(iter->compare("Odom/NearestNeighbor") == 0)
{
ROS_WARN("Parameter name changed: Odom/NearestNeighbor -> %s. Please update your launch file accordingly.",
Parameters::kOdomBowNNType().c_str());
parameters_.at(Parameters::kOdomBowNNType())= vStr;
}
else if(iter->compare("Odom/NNDR") == 0)
{
ROS_WARN("Parameter name changed: Odom/NNDR -> %s. Please update your launch file accordingly.",
Parameters::kOdomBowNNDR().c_str());
parameters_.at(Parameters::kOdomBowNNDR())= vStr;
}
else if(iter->compare("GFTT/MaxCorners") == 0)
{
ROS_WARN("Parameter GFTT/MaxCorners doesn't exist anymore, use %s. Please update your launch file accordingly.",
Parameters::kOdomMaxFeatures().c_str());
parameters_.at(Parameters::kOdomMaxFeatures())= vStr;
if(iter->second.second.empty())
{
ROS_WARN("Odometry: Parameter \"%s\" doesn't exist anymore!",
iter->first.c_str());
}
else
{
ROS_WARN("Odometry: Parameter \"%s\" doesn't exist anymore! You may look at this similar parameter: \"%s\"",
iter->first.c_str(), iter->second.second.c_str());
}
}
}
}
@@ -289,15 +267,13 @@ rtabmap::ParametersMap OdometryROS::getDefaultOdometryParameters(bool stereo)
group.compare("FREAK") == 0 ||
group.compare("BRIEF") == 0 ||
group.compare("GFTT") == 0 ||
group.compare("BRISK") == 0)
group.compare("BRISK") == 0 ||
group.compare("Reg") == 0 ||
group.compare("Vis") == 0)
{
if(stereo)
{
if(iter->first.compare(Parameters::kOdomMaxDepth()) == 0)
{
iter->second = "0"; // infinity
}
else if(iter->first.compare(Parameters::kOdomEstimationType()) == 0)
if(iter->first.compare(Parameters::kVisEstimationType()) == 0)
{
iter->second = "1"; // 3D->2D (PNP)
}