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Parameters.cpp
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1370 lines (1276 loc) · 57.4 KB
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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "rtabmap/core/Parameters.h"
#include "rtabmap/core/DBDriver.h"
#include <rtabmap/utilite/UDirectory.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UFile.h>
#include <cmath>
#include <stdlib.h>
#include <sstream>
#include <iostream>
#include <iomanip>
#include "SimpleIni.h"
#include <opencv2/core/version.hpp>
#include <pcl/pcl_config.h>
#include <opencv2/opencv_modules.hpp>
#ifndef DISABLE_VTK
#include <vtkVersion.h>
#endif
namespace rtabmap
{
ParametersMap Parameters::parameters_;
ParametersMap Parameters::parametersType_;
ParametersMap Parameters::descriptions_;
Parameters Parameters::instance_;
std::map<std::string, std::pair<bool, std::string> > Parameters::removedParameters_;
ParametersMap Parameters::backwardCompatibilityMap_;
Parameters::Parameters()
{
}
Parameters::~Parameters()
{
}
std::string Parameters::createDefaultWorkingDirectory()
{
std::string path = UDirectory::homeDir();
if(!path.empty())
{
UDirectory::makeDir(path += UDirectory::separator() + "Documents");
UDirectory::makeDir(path += UDirectory::separator() + "RTAB-Map");
}
else
{
UFATAL("Can't get the HOME variable environment!");
}
return path;
}
std::string Parameters::getVersion()
{
return RTABMAP_VERSION;
return ""; // Second return only to avoid compiler warning with RTABMAP_VERSION not yet set.
}
std::string Parameters::getDefaultDatabaseName()
{
return "rtabmap.db";
}
std::string Parameters::serialize(const ParametersMap & parameters)
{
std::stringstream output;
for(ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
if(iter != parameters.begin())
{
output << ";";
}
// make sure there are no commas instead of dots
output << iter->first << ":" << uReplaceChar(iter->second, ',', '.');
}
UDEBUG("output=%s", output.str().c_str());
return output.str();
}
ParametersMap Parameters::deserialize(const std::string & parameters)
{
UDEBUG("parameters=%s", parameters.c_str());
ParametersMap output;
std::list<std::string> tuplets = uSplit(parameters, ';');
for(std::list<std::string>::iterator iter=tuplets.begin(); iter!=tuplets.end(); ++iter)
{
std::list<std::string> p = uSplit(*iter, ':');
if(p.size() == 2)
{
std::string key = p.front();
std::string value = p.back();
// look for old parameter name
bool addParameter = true;
std::map<std::string, std::pair<bool, std::string> >::const_iterator oldIter = Parameters::getRemovedParameters().find(key);
if(oldIter!=Parameters::getRemovedParameters().end())
{
addParameter = oldIter->second.first;
if(addParameter)
{
key = oldIter->second.second;
UWARN("Parameter migration from \"%s\" to \"%s\" (value=%s).",
oldIter->first.c_str(), oldIter->second.second.c_str(), value.c_str());
}
else if(oldIter->second.second.empty())
{
UWARN("Parameter \"%s\" doesn't exist anymore.",
oldIter->first.c_str());
}
else
{
UWARN("Parameter \"%s\" doesn't exist anymore, you may want to use this similar parameter \"%s\":\"%s\".",
oldIter->first.c_str(), oldIter->second.second.c_str(), Parameters::getDescription(oldIter->second.second).c_str());
}
}
if(oldIter==Parameters::getRemovedParameters().end() &&
Parameters::getDefaultParameters().find(key) == Parameters::getDefaultParameters().end())
{
UWARN("Unknown parameter \"%s\"=\"%s\"! The parameter is still added to output map.", key.c_str(), value.c_str());
}
uInsert(output, ParametersPair(key, value));
}
}
return output;
}
bool Parameters::isFeatureParameter(const std::string & parameter)
{
std::string group = uSplit(parameter, '/').front();
return group.compare("SURF") == 0 ||
group.compare("SIFT") == 0 ||
group.compare("ORB") == 0 ||
group.compare("FAST") == 0 ||
group.compare("FREAK") == 0 ||
group.compare("BRIEF") == 0 ||
group.compare("GFTT") == 0 ||
group.compare("BRISK") == 0 ||
group.compare("KAZE") == 0 ||
group.compare("SuperPoint") == 0 ||
group.compare("SuperPointRpautrat") == 0 ||
group.compare("PyDetector") == 0;
}
rtabmap::ParametersMap Parameters::getDefaultOdometryParameters(bool stereo, bool vis, bool icp)
{
rtabmap::ParametersMap odomParameters;
rtabmap::ParametersMap defaultParameters = rtabmap::Parameters::getDefaultParameters();
for(rtabmap::ParametersMap::iterator iter=defaultParameters.begin(); iter!=defaultParameters.end(); ++iter)
{
std::string group = uSplit(iter->first, '/').front();
if(uStrContains(group, "Odom") ||
(stereo && group.compare("Stereo") == 0) ||
(icp && group.compare("Icp") == 0) ||
(vis && Parameters::isFeatureParameter(iter->first)) ||
group.compare("OdomCuVSLAM") == 0 ||
group.compare("Reg") == 0 ||
group.compare("Optimizer") == 0 ||
group.compare("g2o") == 0 ||
group.compare("GTSAM") == 0 ||
(vis && (group.compare("Vis") == 0 || group.compare("PyMatcher") == 0 || group.compare("GMS") == 0)) ||
iter->first.compare(kRtabmapPublishRAMUsage())==0 ||
iter->first.compare(kRtabmapImagesAlreadyRectified())==0 ||
iter->first.compare(kKpByteToFloat())==0)
{
odomParameters.insert(*iter);
}
}
return odomParameters;
}
ParametersMap Parameters::getDefaultParameters(const std::string & groupIn)
{
rtabmap::ParametersMap parameters;
const rtabmap::ParametersMap & defaultParameters = rtabmap::Parameters::getDefaultParameters();
for(rtabmap::ParametersMap::const_iterator iter=defaultParameters.begin(); iter!=defaultParameters.end(); ++iter)
{
UASSERT(uSplit(iter->first, '/').size() == 2);
std::string group = uSplit(iter->first, '/').front();
if(group.compare(groupIn) == 0)
{
parameters.insert(*iter);
}
}
UASSERT_MSG(parameters.size(), uFormat("No parameters found for group %s!", groupIn.c_str()).c_str());
return parameters;
}
ParametersMap Parameters::filterParameters(const ParametersMap & parameters, const std::string & groupIn, bool remove)
{
ParametersMap output;
for(rtabmap::ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
UASSERT(uSplit(iter->first, '/').size() == 2);
std::string group = uSplit(iter->first, '/').front();
bool sameGroup = group.compare(groupIn) == 0;
if((!remove && sameGroup) || (remove && !sameGroup))
{
output.insert(*iter);
}
}
return output;
}
const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemovedParameters()
{
if(removedParameters_.empty())
{
// removed parameters
// 0.23.1
removedParameters_.insert(std::make_pair("OdomVINS/ConfigPath", std::make_pair(true, Parameters::kOdomVINSFusionConfigPath())));
// 0.21.13
removedParameters_.insert(std::make_pair("Vis/ForwardEstOnly", std::make_pair(false, "")));
// 0.21.7
removedParameters_.insert(std::make_pair("SIFT/NFeatures", std::make_pair(false, "")));
// 0.21.3
removedParameters_.insert(std::make_pair("GridGlobal/FullUpdate", std::make_pair(false, "")));
// 0.20.15
removedParameters_.insert(std::make_pair("Grid/FromDepth", std::make_pair(true, Parameters::kGridSensor())));
// 0.20.9
removedParameters_.insert(std::make_pair("OdomORBSLAM2/VocPath", std::make_pair(true, Parameters::kOdomORBSLAMVocPath())));
removedParameters_.insert(std::make_pair("OdomORBSLAM2/Bf", std::make_pair(true, Parameters::kOdomORBSLAMBf())));
removedParameters_.insert(std::make_pair("OdomORBSLAM2/ThDepth", std::make_pair(true, Parameters::kOdomORBSLAMThDepth())));
removedParameters_.insert(std::make_pair("OdomORBSLAM2/Fps", std::make_pair(true, Parameters::kOdomORBSLAMFps())));
removedParameters_.insert(std::make_pair("OdomORBSLAM2/MaxFeatures", std::make_pair(true, Parameters::kOdomORBSLAMMaxFeatures())));
removedParameters_.insert(std::make_pair("OdomORBSLAM2/MapSize", std::make_pair(true, Parameters::kOdomORBSLAMMapSize())));
removedParameters_.insert(std::make_pair("RGBD/SavedLocalizationIgnored", std::make_pair(true, Parameters::kRGBDStartAtOrigin())));
removedParameters_.insert(std::make_pair("Icp/PMForce4DoF", std::make_pair(true, Parameters::kIcpForce4DoF())));
removedParameters_.insert(std::make_pair("Icp/PM", std::make_pair(true, Parameters::kIcpStrategy()))); // convert "true" to "1"
removedParameters_.insert(std::make_pair("Icp/PMOutlierRatio", std::make_pair(true, Parameters::kIcpOutlierRatio())));
// 0.20.
removedParameters_.insert(std::make_pair("SuperGlue/Path", std::make_pair(true, Parameters::kPyMatcherPath())));
removedParameters_.insert(std::make_pair("SuperGlue/Iterations", std::make_pair(true, Parameters::kPyMatcherIterations())));
removedParameters_.insert(std::make_pair("SuperGlue/MatchThreshold", std::make_pair(true, Parameters::kPyMatcherThreshold())));
removedParameters_.insert(std::make_pair("SuperGlue/Cuda", std::make_pair(true, Parameters::kPyMatcherCuda())));
removedParameters_.insert(std::make_pair("SuperGlue/Indoor", std::make_pair(false, Parameters::kPyMatcherModel())));
removedParameters_.insert(std::make_pair("Vis/CorCrossCheck", std::make_pair(false, Parameters::kVisCorNNType())));
removedParameters_.insert(std::make_pair("SPTorch/ModelPath", std::make_pair(true, Parameters::kSuperPointModelPath())));
removedParameters_.insert(std::make_pair("SPTorch/Threshold", std::make_pair(true, Parameters::kSuperPointThreshold())));
removedParameters_.insert(std::make_pair("SPTorch/NMS", std::make_pair(true, Parameters::kSuperPointNMS())));
removedParameters_.insert(std::make_pair("SPTorch/MinDistance", std::make_pair(true, Parameters::kSuperPointNMSRadius())));
removedParameters_.insert(std::make_pair("SPTorch/Cuda", std::make_pair(true, Parameters::kSuperPointCuda())));
// 0.19.4
removedParameters_.insert(std::make_pair("RGBD/MaxLocalizationDistance", std::make_pair(true, Parameters::kRGBDMaxLoopClosureDistance())));
// 0.19.3
removedParameters_.insert(std::make_pair("Aruco/Dictionary", std::make_pair(true, Parameters::kMarkerDictionary())));
removedParameters_.insert(std::make_pair("Aruco/MarkerLength", std::make_pair(true, Parameters::kMarkerLength())));
removedParameters_.insert(std::make_pair("Aruco/MaxDepthError", std::make_pair(true, Parameters::kMarkerMaxDepthError())));
removedParameters_.insert(std::make_pair("Aruco/VarianceLinear", std::make_pair(true, Parameters::kMarkerVarianceLinear())));
removedParameters_.insert(std::make_pair("Aruco/VarianceAngular", std::make_pair(true, Parameters::kMarkerVarianceAngular())));
removedParameters_.insert(std::make_pair("Aruco/CornerRefinementMethod", std::make_pair(true, Parameters::kMarkerCornerRefinementMethod())));
// 0.17.5
removedParameters_.insert(std::make_pair("Grid/OctoMapOccupancyThr", std::make_pair(true, Parameters::kGridGlobalOccupancyThr())));
// 0.17.0
removedParameters_.insert(std::make_pair("Grid/Scan2dMaxFilledRange", std::make_pair(false, Parameters::kGridRangeMax())));
// 0.16.0
removedParameters_.insert(std::make_pair("Grid/ProjRayTracing", std::make_pair(true, Parameters::kGridRayTracing())));
removedParameters_.insert(std::make_pair("Grid/DepthMin", std::make_pair(true, Parameters::kGridRangeMin())));
removedParameters_.insert(std::make_pair("Grid/DepthMax", std::make_pair(true, Parameters::kGridRangeMax())));
// 0.15.1
removedParameters_.insert(std::make_pair("Reg/VarianceFromInliersCount", std::make_pair(false, "")));
removedParameters_.insert(std::make_pair("Reg/VarianceNormalized", std::make_pair(false, "")));
// 0.13.3
removedParameters_.insert(std::make_pair("Icp/PointToPlaneNormalNeighbors", std::make_pair(true, Parameters::kIcpPointToPlaneK())));
// 0.13.1
removedParameters_.insert(std::make_pair("Rtabmap/VhStrategy", std::make_pair(true, Parameters::kVhEpEnabled())));
// 0.12.5
removedParameters_.insert(std::make_pair("Grid/FullUpdate", std::make_pair(false, "")));
// 0.12.1
removedParameters_.insert(std::make_pair("Grid/3DGroundIsObstacle", std::make_pair(true, Parameters::kGridGroundIsObstacle())));
// 0.11.12
removedParameters_.insert(std::make_pair("Optimizer/Slam2D", std::make_pair(true, Parameters::kRegForce3DoF())));
removedParameters_.insert(std::make_pair("OdomF2M/FixedMapPath", std::make_pair(false, "")));
// 0.11.10 typos
removedParameters_.insert(std::make_pair("Grid/FlatObstaclesDetected", std::make_pair(true, Parameters::kGridFlatObstacleDetected())));
// 0.11.8
removedParameters_.insert(std::make_pair("Reg/Force2D", std::make_pair(true, Parameters::kRegForce3DoF())));
removedParameters_.insert(std::make_pair("OdomF2M/ScanSubstractRadius", std::make_pair(true, Parameters::kOdomF2MScanSubtractRadius())));
// 0.11.6
removedParameters_.insert(std::make_pair("RGBD/ProximityPathScansMerged", std::make_pair(false, "")));
// 0.11.3
removedParameters_.insert(std::make_pair("Mem/ImageDecimation", std::make_pair(true, Parameters::kMemImagePostDecimation())));
// 0.11.2
removedParameters_.insert(std::make_pair("OdomLocalMap/HistorySize", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
removedParameters_.insert(std::make_pair("OdomLocalMap/FixedMapPath", std::make_pair(false, "")));
removedParameters_.insert(std::make_pair("OdomF2F/GuessMotion", std::make_pair(true, Parameters::kOdomGuessMotion())));
removedParameters_.insert(std::make_pair("OdomF2F/KeyFrameThr", std::make_pair(false, Parameters::kOdomKeyFrameThr())));
// 0.11.0
removedParameters_.insert(std::make_pair("OdomBow/LocalHistorySize", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
removedParameters_.insert(std::make_pair("OdomBow/FixedLocalMapPath", std::make_pair(false, "")));
removedParameters_.insert(std::make_pair("OdomFlow/KeyFrameThr", std::make_pair(false, Parameters::kOdomKeyFrameThr())));
removedParameters_.insert(std::make_pair("OdomFlow/GuessMotion", std::make_pair(true, Parameters::kOdomGuessMotion())));
removedParameters_.insert(std::make_pair("Kp/WordsPerImage", std::make_pair(true, Parameters::kKpMaxFeatures())));
removedParameters_.insert(std::make_pair("Mem/LocalSpaceLinksKeptInWM", std::make_pair(false, "")));
removedParameters_.insert(std::make_pair("RGBD/PoseScanMatching", std::make_pair(true, Parameters::kRGBDNeighborLinkRefining())));
removedParameters_.insert(std::make_pair("Odom/ParticleFiltering", std::make_pair(false, Parameters::kOdomFilteringStrategy())));
removedParameters_.insert(std::make_pair("Odom/FeatureType", std::make_pair(true, Parameters::kVisFeatureType())));
removedParameters_.insert(std::make_pair("Odom/EstimationType", std::make_pair(true, Parameters::kVisEstimationType())));
removedParameters_.insert(std::make_pair("Odom/MaxFeatures", std::make_pair(true, Parameters::kVisMaxFeatures())));
removedParameters_.insert(std::make_pair("Odom/InlierDistance", std::make_pair(true, Parameters::kVisInlierDistance())));
removedParameters_.insert(std::make_pair("Odom/MinInliers", std::make_pair(true, Parameters::kVisMinInliers())));
removedParameters_.insert(std::make_pair("Odom/Iterations", std::make_pair(true, Parameters::kVisIterations())));
removedParameters_.insert(std::make_pair("Odom/RefineIterations", std::make_pair(true, Parameters::kVisRefineIterations())));
removedParameters_.insert(std::make_pair("Odom/MaxDepth", std::make_pair(true, Parameters::kVisMaxDepth())));
removedParameters_.insert(std::make_pair("Odom/RoiRatios", std::make_pair(true, Parameters::kVisRoiRatios())));
removedParameters_.insert(std::make_pair("Odom/Force2D", std::make_pair(true, Parameters::kRegForce3DoF())));
removedParameters_.insert(std::make_pair("Odom/VarianceFromInliersCount", std::make_pair(false, "")));
removedParameters_.insert(std::make_pair("Odom/PnPReprojError", std::make_pair(true, Parameters::kVisPnPReprojError())));
removedParameters_.insert(std::make_pair("Odom/PnPFlags", std::make_pair(true, Parameters::kVisPnPFlags())));
removedParameters_.insert(std::make_pair("OdomBow/NNType", std::make_pair(true, Parameters::kVisCorNNType())));
removedParameters_.insert(std::make_pair("OdomBow/NNDR", std::make_pair(true, Parameters::kVisCorNNDR())));
removedParameters_.insert(std::make_pair("OdomFlow/WinSize", std::make_pair(true, Parameters::kVisCorFlowWinSize())));
removedParameters_.insert(std::make_pair("OdomFlow/Iterations", std::make_pair(true, Parameters::kVisCorFlowIterations())));
removedParameters_.insert(std::make_pair("OdomFlow/Eps", std::make_pair(true, Parameters::kVisCorFlowEps())));
removedParameters_.insert(std::make_pair("OdomFlow/MaxLevel", std::make_pair(true, Parameters::kVisCorFlowMaxLevel())));
removedParameters_.insert(std::make_pair("OdomSubPix/WinSize", std::make_pair(true, Parameters::kVisSubPixWinSize())));
removedParameters_.insert(std::make_pair("OdomSubPix/Iterations", std::make_pair(true, Parameters::kVisSubPixIterations())));
removedParameters_.insert(std::make_pair("OdomSubPix/Eps", std::make_pair(true, Parameters::kVisSubPixEps())));
removedParameters_.insert(std::make_pair("LccReextract/Activated", std::make_pair(true, Parameters::kRGBDLoopClosureReextractFeatures())));
removedParameters_.insert(std::make_pair("LccReextract/FeatureType", std::make_pair(false, Parameters::kVisFeatureType())));
removedParameters_.insert(std::make_pair("LccReextract/MaxWords", std::make_pair(false, Parameters::kVisMaxFeatures())));
removedParameters_.insert(std::make_pair("LccReextract/MaxDepth", std::make_pair(false, Parameters::kVisMaxDepth())));
removedParameters_.insert(std::make_pair("LccReextract/RoiRatios", std::make_pair(false, Parameters::kVisRoiRatios())));
removedParameters_.insert(std::make_pair("LccReextract/NNType", std::make_pair(false, Parameters::kVisCorNNType())));
removedParameters_.insert(std::make_pair("LccReextract/NNDR", std::make_pair(false, Parameters::kVisCorNNDR())));
removedParameters_.insert(std::make_pair("LccBow/EstimationType", std::make_pair(false, Parameters::kVisEstimationType())));
removedParameters_.insert(std::make_pair("LccBow/InlierDistance", std::make_pair(false, Parameters::kVisInlierDistance())));
removedParameters_.insert(std::make_pair("LccBow/MinInliers", std::make_pair(false, Parameters::kVisMinInliers())));
removedParameters_.insert(std::make_pair("LccBow/Iterations", std::make_pair(false, Parameters::kVisIterations())));
removedParameters_.insert(std::make_pair("LccBow/RefineIterations", std::make_pair(false, Parameters::kVisRefineIterations())));
removedParameters_.insert(std::make_pair("LccBow/Force2D", std::make_pair(false, Parameters::kRegForce3DoF())));
removedParameters_.insert(std::make_pair("LccBow/VarianceFromInliersCount", std::make_pair(false, "")));
removedParameters_.insert(std::make_pair("LccBow/PnPReprojError", std::make_pair(false, Parameters::kVisPnPReprojError())));
removedParameters_.insert(std::make_pair("LccBow/PnPFlags", std::make_pair(false, Parameters::kVisPnPFlags())));
removedParameters_.insert(std::make_pair("LccBow/EpipolarGeometryVar", std::make_pair(true, Parameters::kVisEpipolarGeometryVar())));
removedParameters_.insert(std::make_pair("LccIcp/Type", std::make_pair(false, Parameters::kRegStrategy())));
removedParameters_.insert(std::make_pair("LccIcp3/Decimation", std::make_pair(false, "")));
removedParameters_.insert(std::make_pair("LccIcp3/MaxDepth", std::make_pair(false, "")));
removedParameters_.insert(std::make_pair("LccIcp3/VoxelSize", std::make_pair(false, Parameters::kIcpVoxelSize())));
removedParameters_.insert(std::make_pair("LccIcp3/Samples", std::make_pair(false, Parameters::kIcpDownsamplingStep())));
removedParameters_.insert(std::make_pair("LccIcp3/MaxCorrespondenceDistance", std::make_pair(false, Parameters::kIcpMaxCorrespondenceDistance())));
removedParameters_.insert(std::make_pair("LccIcp3/Iterations", std::make_pair(false, Parameters::kIcpIterations())));
removedParameters_.insert(std::make_pair("LccIcp3/CorrespondenceRatio", std::make_pair(false, Parameters::kIcpCorrespondenceRatio())));
removedParameters_.insert(std::make_pair("LccIcp3/PointToPlane", std::make_pair(true, Parameters::kIcpPointToPlane())));
removedParameters_.insert(std::make_pair("LccIcp3/PointToPlaneNormalNeighbors", std::make_pair(true, Parameters::kIcpPointToPlaneK())));
removedParameters_.insert(std::make_pair("LccIcp2/MaxCorrespondenceDistance", std::make_pair(true, Parameters::kIcpMaxCorrespondenceDistance())));
removedParameters_.insert(std::make_pair("LccIcp2/Iterations", std::make_pair(true, Parameters::kIcpIterations())));
removedParameters_.insert(std::make_pair("LccIcp2/CorrespondenceRatio", std::make_pair(true, Parameters::kIcpCorrespondenceRatio())));
removedParameters_.insert(std::make_pair("LccIcp2/VoxelSize", std::make_pair(true, Parameters::kIcpVoxelSize())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionByTime", std::make_pair(true, Parameters::kRGBDProximityByTime())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionBySpace", std::make_pair(true, Parameters::kRGBDProximityBySpace())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionTime", std::make_pair(true, Parameters::kRGBDProximityByTime())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionSpace", std::make_pair(true, Parameters::kRGBDProximityBySpace())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathScansMerged", std::make_pair(false, "")));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxGraphDepth", std::make_pair(true, Parameters::kRGBDProximityMaxGraphDepth())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathFilteringRadius", std::make_pair(true, Parameters::kRGBDProximityPathFilteringRadius())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathRawPosesUsed", std::make_pair(true, Parameters::kRGBDProximityPathRawPosesUsed())));
removedParameters_.insert(std::make_pair("RGBD/OptimizeStrategy", std::make_pair(true, Parameters::kOptimizerStrategy())));
removedParameters_.insert(std::make_pair("RGBD/OptimizeEpsilon", std::make_pair(true, Parameters::kOptimizerEpsilon())));
removedParameters_.insert(std::make_pair("RGBD/OptimizeIterations", std::make_pair(true, Parameters::kOptimizerIterations())));
removedParameters_.insert(std::make_pair("RGBD/OptimizeRobust", std::make_pair(true, Parameters::kOptimizerRobust())));
removedParameters_.insert(std::make_pair("RGBD/OptimizeSlam2D", std::make_pair(true, Parameters::kRegForce3DoF())));
removedParameters_.insert(std::make_pair("RGBD/OptimizeSlam2d", std::make_pair(true, Parameters::kRegForce3DoF())));
removedParameters_.insert(std::make_pair("RGBD/OptimizeVarianceIgnored", std::make_pair(true, Parameters::kOptimizerVarianceIgnored())));
removedParameters_.insert(std::make_pair("Stereo/WinSize", std::make_pair(true, Parameters::kStereoWinWidth())));
// before 0.11.0
removedParameters_.insert(std::make_pair("GFTT/MaxCorners", std::make_pair(true, Parameters::kVisMaxFeatures())));
removedParameters_.insert(std::make_pair("LccBow/MaxDepth", std::make_pair(true, Parameters::kVisMaxDepth())));
removedParameters_.insert(std::make_pair("LccReextract/LoopClosureFeatures", std::make_pair(true, Parameters::kRGBDLoopClosureReextractFeatures())));
removedParameters_.insert(std::make_pair("Rtabmap/DetectorStrategy", std::make_pair(true, Parameters::kKpDetectorStrategy())));
removedParameters_.insert(std::make_pair("RGBD/ScanMatchingSize", std::make_pair(true, Parameters::kRGBDNeighborLinkRefining())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionRadius", std::make_pair(true, Parameters::kRGBDLocalRadius())));
removedParameters_.insert(std::make_pair("RGBD/ToroIterations", std::make_pair(true, Parameters::kOptimizerIterations())));
removedParameters_.insert(std::make_pair("Mem/RehearsedNodesKept", std::make_pair(true, Parameters::kMemNotLinkedNodesKept())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxDiffID", std::make_pair(true, Parameters::kRGBDProximityMaxGraphDepth())));
removedParameters_.insert(std::make_pair("RGBD/PlanVirtualLinksMaxDiffID", std::make_pair(false, "")));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxDiffID", std::make_pair(false, "")));
removedParameters_.insert(std::make_pair("Odom/Type", std::make_pair(true, Parameters::kVisFeatureType())));
removedParameters_.insert(std::make_pair("Odom/MaxWords", std::make_pair(true, Parameters::kVisMaxFeatures())));
removedParameters_.insert(std::make_pair("Odom/LocalHistory", std::make_pair(true, Parameters::kOdomF2MMaxSize())));
removedParameters_.insert(std::make_pair("Odom/NearestNeighbor", std::make_pair(true, Parameters::kVisCorNNType())));
removedParameters_.insert(std::make_pair("Odom/NNDR", std::make_pair(true, Parameters::kVisCorNNDR())));
}
return removedParameters_;
}
const ParametersMap & Parameters::getBackwardCompatibilityMap()
{
if(backwardCompatibilityMap_.empty())
{
getRemovedParameters(); // make sure removedParameters is filled
// compatibility
for(std::map<std::string, std::pair<bool, std::string> >::iterator iter=removedParameters_.begin();
iter!=removedParameters_.end();
++iter)
{
if(iter->second.first)
{
backwardCompatibilityMap_.insert(ParametersPair(iter->second.second, iter->first));
}
}
}
return backwardCompatibilityMap_;
}
std::string Parameters::getType(const std::string & paramKey)
{
std::string type;
ParametersMap::iterator iter = parametersType_.find(paramKey);
if(iter != parametersType_.end())
{
type = iter->second;
}
else
{
UERROR("Parameters \"%s\" doesn't exist!", paramKey.c_str());
}
return type;
}
std::string Parameters::getDescription(const std::string & paramKey)
{
std::string description;
ParametersMap::iterator iter = descriptions_.find(paramKey);
if(iter != descriptions_.end())
{
description = iter->second;
}
else
{
UERROR("Parameters \"%s\" doesn't exist!", paramKey.c_str());
}
return description;
}
bool Parameters::parse(const ParametersMap & parameters, const std::string & key, bool & value)
{
ParametersMap::const_iterator iter = parameters.find(key);
if(iter != parameters.end())
{
value = uStr2Bool(iter->second.c_str());
return true;
}
return false;
}
bool Parameters::parse(const ParametersMap & parameters, const std::string & key, int & value)
{
ParametersMap::const_iterator iter = parameters.find(key);
if(iter != parameters.end())
{
value = uStr2Int(iter->second.c_str());
return true;
}
return false;
}
bool Parameters::parse(const ParametersMap & parameters, const std::string & key, unsigned int & value)
{
ParametersMap::const_iterator iter = parameters.find(key);
if(iter != parameters.end())
{
value = uStr2Int(iter->second.c_str());
return true;
}
return false;
}
bool Parameters::parse(const ParametersMap & parameters, const std::string & key, float & value)
{
ParametersMap::const_iterator iter = parameters.find(key);
if(iter != parameters.end())
{
value = uStr2Float(iter->second);
return true;
}
return false;
}
bool Parameters::parse(const ParametersMap & parameters, const std::string & key, double & value)
{
ParametersMap::const_iterator iter = parameters.find(key);
if(iter != parameters.end())
{
value = uStr2Double(iter->second);
return true;
}
return false;
}
bool Parameters::parse(const ParametersMap & parameters, const std::string & key, std::string & value)
{
ParametersMap::const_iterator iter = parameters.find(key);
if(iter != parameters.end())
{
value = iter->second;
return true;
}
return false;
}
void Parameters::parse(const ParametersMap & parameters, ParametersMap & parametersOut)
{
for(ParametersMap::iterator iter=parametersOut.begin(); iter!=parametersOut.end(); ++iter)
{
ParametersMap::const_iterator jter = parameters.find(iter->first);
if(jter != parameters.end())
{
iter->second = jter->second;
}
}
}
const char * Parameters::showUsage()
{
return "RTAB-Map options:\n"
" --help Show usage.\n"
" --version Show version of rtabmap and its dependencies.\n"
" --params Show all parameters with their default value and description. \n"
" If a database path is set as last argument, the parameters in the \n"
" database will be shown in INI format.\n"
" --\"parameter name\" \"value\" Overwrite a specific RTAB-Map's parameter :\n"
" --SURF/HessianThreshold 150\n"
" For parameters in table format, add ',' between values :\n"
" --Kp/RoiRatios 0,0,0.1,0\n"
"Logger options:\n"
" --nolog Disable logger\n"
" --logconsole Set logger console type\n"
" --logfile \"path\" Set logger file type\n"
" --logfilea \"path\" Set logger file type with appending mode if the file already exists\n"
" --udebug Set logger level to debug\n"
" --uinfo Set logger level to info\n"
" --uwarn Set logger level to warn\n"
" --uerror Set logger level to error\n"
" --logtime \"bool\" Print time when logging\n"
" --logwhere \"bool\" Print where when logging\n"
" --logthread \"bool\" Print thread id when logging\n"
;
}
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)
{
bool checkParameters = onlyParameters;
if(!checkParameters)
{
if(strcmp(argv[i], "--help") == 0)
{
std::cout << showUsage() << std::endl;
exit(0);
}
else if(strcmp(argv[i], "--version") == 0)
{
std::string str = "RTAB-Map:";
int spacing = 30;
std::cout << str << std::setw(spacing - str.size()) << RTABMAP_VERSION << std::endl;
str = "PCL:";
std::cout << str << std::setw(spacing - str.size()) << PCL_VERSION_PRETTY << std::endl;
str = "With VTK:";
#ifndef DISABLE_VTK
std::cout << str << std::setw(spacing - str.size()) << vtkVersion::GetVTKVersion() << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "OpenCV:";
std::cout << str << std::setw(spacing - str.size()) << CV_VERSION << std::endl;
#if CV_MAJOR_VERSION >= 3
str = "With OpenCV xfeatures2d:";
#ifdef HAVE_OPENCV_XFEATURES2D
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
#endif
str = "With OpenCV nonfree:";
#ifdef RTABMAP_NONFREE
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With ORB OcTree:";
#ifdef RTABMAP_ORB_OCTREE
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With SuperPoint Torch:";
#ifdef RTABMAP_TORCH
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With SuperPoint Rpautrat:";
#if defined(RTABMAP_TORCH) && defined(RTABMAP_PYTHON)
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With Python3:";
#ifdef RTABMAP_PYTHON
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With FastCV:";
#ifdef RTABMAP_FASTCV
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With OpenGV:";
#ifdef RTABMAP_OPENGV
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With Madgwick:";
#ifdef RTABMAP_MADGWICK
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With PDAL:";
#ifdef RTABMAP_PDAL
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With libLAS:";
#ifdef RTABMAP_LIBLAS
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With CudaSift:";
#ifdef RTABMAP_CUDASIFT
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With TORO:";
#ifdef RTABMAP_TORO
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With g2o:";
#ifdef RTABMAP_G2O
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With GTSAM:";
#ifdef RTABMAP_GTSAM
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With Vertigo:";
#ifdef RTABMAP_VERTIGO
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With CVSBA:";
#ifdef RTABMAP_CVSBA
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With Ceres:";
#ifdef RTABMAP_CERES
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With OpenNI:";
#ifdef RTABMAP_OPENNI
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With OpenNI2:";
#ifdef RTABMAP_OPENNI2
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With Freenect:";
#ifdef RTABMAP_FREENECT
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With Freenect2:";
#ifdef RTABMAP_FREENECT2
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With K4W2:";
#ifdef RTABMAP_K4W2
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With K4A:";
#ifdef RTABMAP_K4A
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With DC1394:";
#ifdef RTABMAP_DC1394
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With FlyCapture2:";
#ifdef RTABMAP_FLYCAPTURE2
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With ZED:";
#ifdef RTABMAP_ZED
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With ZED Open Capture:";
#ifdef RTABMAP_ZEDOC
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With RealSense:";
#ifdef RTABMAP_REALSENSE
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With RealSense SLAM:";
#ifdef RTABMAP_REALSENSE_SLAM
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With RealSense2:";
#ifdef RTABMAP_REALSENSE2
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With MYNT EYE S:";
#ifdef RTABMAP_MYNTEYE
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With DepthAI:";
#ifdef RTABMAP_DEPTHAI
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With XVisio SDK:";
#ifdef RTABMAP_XVSDK
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With libpointmatcher:";
#ifdef RTABMAP_POINTMATCHER
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With CCCoreLib:";
#ifdef RTABMAP_CCCORELIB
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With Open3D:";
#ifdef RTABMAP_OPEN3D
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With OctoMap:";
#ifdef RTABMAP_OCTOMAP
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With GridMap:";
#ifdef RTABMAP_GRIDMAP
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With cpu-tsdf:";
#ifdef RTABMAP_CPUTSDF
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With open chisel:";
#ifdef RTABMAP_OPENCHISEL
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With Alice Vision:";
#ifdef RTABMAP_ALICE_VISION
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With LOAM:";
#ifdef RTABMAP_LOAM
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With FLOAM:";
#ifdef RTABMAP_FLOAM
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With LIO-SAM:";
#ifdef RTABMAP_LIOSAM
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With FOVIS:";
#ifdef RTABMAP_FOVIS
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With Viso2:";
#ifdef RTABMAP_VISO2
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With DVO:";
#ifdef RTABMAP_DVO
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
#if RTABMAP_ORB_SLAM == 3
str = "With ORB_SLAM3:";
#elif RTABMAP_ORB_SLAM == 2
str = "With ORB_SLAM2:";
#else
str = "With ORB_SLAM:";
#endif
#ifdef RTABMAP_ORB_SLAM
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With OKVIS:";
#ifdef RTABMAP_OKVIS
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With MSCKF_VIO:";
#ifdef RTABMAP_MSCKF_VIO
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With VINS-Fusion:";
#ifdef RTABMAP_VINS_FUSION
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With OpenVINS:";
#ifdef RTABMAP_OPENVINS
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
exit(0);
}
else if(strcmp(argv[i], "--nolog") == 0)
{
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)
{
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");
}
}