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root / rgbdslam / src / parameter_server.cpp @ 9240aaa3

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/* This file is part of RGBDSLAM.
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 * 
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 * RGBDSLAM is free software: you can redistribute it and/or modify
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 * it under the terms of the GNU General Public License as published by
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 * the Free Software Foundation, either version 3 of the License, or
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 * (at your option) any later version.
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 * 
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 * RGBDSLAM is distributed in the hope that it will be useful,
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 * but WITHOUT ANY WARRANTY; without even the implied warranty of
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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 * GNU General Public License for more details.
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 * 
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 * You should have received a copy of the GNU General Public License
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 * along with RGBDSLAM.  If not, see <http://www.gnu.org/licenses/>.
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 */
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#include "parameter_server.h"
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using namespace std;
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ParameterServer* ParameterServer::_instance = NULL;
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ParameterServer::ParameterServer() {
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    pre = ros::this_node::getName();
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    pre += "/config/";
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    defaultConfig();
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    getValues();
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}
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ParameterServer* ParameterServer::instance() {
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    if (_instance == NULL) {
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        _instance = new ParameterServer();
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    }
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    return _instance;
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}
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void ParameterServer::defaultConfig() {
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    config["topic_image_mono"]              = std::string("/camera/rgb/image_mono");
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    config["topic_image_depth"]             = std::string("/camera/depth/image");
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    config["topic_points"]                  = std::string("/camera/rgb/points");
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    config["wide_topic"]                    = std::string("/wide_stereo/left/image_mono");
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    config["wide_cloud_topic"]              = std::string("/wide_stereo/points2");
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    config["camera_info_topic"]             = std::string("/camera/rgb/camera_info");
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    config["individual_cloud_out_topic"]    = std::string("/rgbdslam/batch_clouds");
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    config["aggregate_cloud_out_topic"]     = std::string("/rgbdslam/aggregate_clouds");
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    config["fixed_frame_name"]              = std::string("/map");
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    config["ground_truth_frame_name"]       = std::string("");                  //use empty string if no ground truth tf frame available
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    config["base_frame_name"]               = std::string("/openni_camera");    //if the camera is articulated use robot base
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    config["bagfile_name"]                  = std::string("");                  //will be processed if given
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    config["batch_processing"]              = static_cast<bool> (false);        //store results and close after bagfile has been processed
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    config["fixed_camera"]                  = static_cast<bool> (true);         //is camera fixed relative to base?
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    config["feature_detector_type"]         = std::string("SURF");              //SURF, SIFT, FAST, ... see misc.cpp
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    config["feature_extractor_type"]        = std::string("SURF");              //SURF or SIFT
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    config["start_paused"]                  = static_cast<bool> (true);
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    config["store_pointclouds"]             = static_cast<bool> (false);
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    config["optimizer_iterations"]          = static_cast<int> (2);
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    config["subscriber_queue_size"]         = static_cast<int> (2);
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    config["publisher_queue_size"]          = static_cast<int> (1);
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    config["max_keypoints"]                 = static_cast<int> (1000);          //will also be used as max for SiftGPU
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    config["min_keypoints"]                 = static_cast<int> (500);
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    config["min_matches"]                   = static_cast<int> (100);           //if using SiftGPU and GLSL you should use max. 60 matches
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    config["fast_max_iterations"]           = static_cast<int> (10);
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    config["surf_max_iterations"]           = static_cast<int> (5);
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    config["min_translation_meter"]         = static_cast<double> (0.1);
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    config["min_rotation_degree"]           = static_cast<int> (5);
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    config["min_time_reported"]             = static_cast<double> (0.01);
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    config["squared_meshing_threshold"]     = static_cast<double> (0.0009);
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    config["use_glwidget"]                  = static_cast<bool> (true);
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    config["preserve_raster_on_save"]       = static_cast<bool> (false);
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    config["connectivity"]                  = static_cast<int> (10);
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    config["max_connections"]               = static_cast<int> (10);
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    config["max_dist_for_inliers"]          = static_cast<double> (0.03);
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    config["drop_async_frames"]             = static_cast<bool> (false);
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    config["ransac_iterations"]             = static_cast<int> (1000);
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    config["use_gui"]                       = static_cast<bool> (true);
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    config["use_wide"]                      = static_cast<bool> (true);
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    config["concurrent_node_construction"]  = static_cast<bool> (true);
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    config["voxelfilter_size"]              = static_cast<double> (-1.0); //in meters. Values <= 0 deactivate
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    config["wide_queue_size"]               = static_cast<int> (2);
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    config["visualization_skip_step"]       = static_cast<int> (1);
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    config["optimizer_skip_step"]           = static_cast<int> (1);
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    config["data_skip_step"]                = static_cast<int> (1);
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    config["use_flann"]                     = static_cast<bool> (true); //use flann insteald of the brute force matcher
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    config["show_axis"]                     = static_cast<bool> (true); //use flann insteald of the brute force matcher
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    config["depth_scaling_factor"]          = static_cast<double> (1.0); //Some kinects have a wrongly scaled depth
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}
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void ParameterServer::getValues() {
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    map<string, boost::any>::const_iterator itr;
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    for (itr = config.begin(); itr != config.end(); ++itr) {
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        string name = itr->first;
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        if (itr->second.type() == typeid(string)) {
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            config[name] = getFromParameterServer<string> (pre + name,
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                    boost::any_cast<string>(itr->second));
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            ROS_DEBUG_STREAM("Value for " << name << ":             " << boost::any_cast<string>(itr->second));
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        } else if (itr->second.type() == typeid(int)) {
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            config[name] = getFromParameterServer<int> (pre + name,
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                    boost::any_cast<int>(itr->second));
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            ROS_DEBUG_STREAM("Value for " << name << ":             " << boost::any_cast<int>(itr->second));
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        } else if (itr->second.type() == typeid(double)) {
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            config[name] = getFromParameterServer<double> (pre + name,
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                    boost::any_cast<double>(itr->second));
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            ROS_DEBUG_STREAM("Value for " << name << ":             " << boost::any_cast<double>(itr->second));
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        } else if (itr->second.type() == typeid(bool)) {
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            config[name] = getFromParameterServer<bool> (pre + name,
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                    boost::any_cast<bool>(itr->second));
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            ROS_DEBUG_STREAM("Value for " << name << ":             " << boost::any_cast<bool>(itr->second));
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        }
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    }
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}
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