C++ ParametersMap::size方法代码示例

//.........这里部分代码省略.........
	ULogger::setLevel(logLevel);
	ULogger::setExitLevel(exitLevel);

	// Create tasks : memory is deleted
	Rtabmap rtabmap;
	// Disable statistics (we don't need them)
	pm.insert(ParametersPair(Parameters::kRtabmapPublishStats(), "false"));
	// use default working directory
	pm.insert(ParametersPair(Parameters::kRtabmapWorkingDirectory(), Parameters::defaultRtabmapWorkingDirectory()));
	pm.insert(ParametersPair(Parameters::kRGBDEnabled(), "false"));

	rtabmap.init(pm);
	rtabmap.setTimeThreshold(timeThreshold); // in ms

	printf("Avpd init time = %fs\n", timer.ticks());

	// Start thread's task
	int loopClosureId;
	int count = 0;
	int countLoopDetected=0;

	printf("\nParameters : \n");
	printf(" Data set : %s\n", path.c_str());
	printf(" Time threshold = %1.2f ms\n", timeThreshold);
	printf(" Image rate = %1.2f s (%1.2f Hz)\n", rate, 1/rate);
	printf(" Repeating data set = %s\n", repeat?"true":"false");
	printf(" Camera width=%d, height=%d (0 is default)\n", imageWidth, imageHeight);
	printf(" Camera starts at image %d (default 1)\n", startAt);
	if(createGT)
	{
		printf(" Creating the ground truth matrix.\n");
	}
	printf(" INFO: All other parameters are set to defaults\n");
	if(pm.size()>1)
	{
		printf("   Overwritten parameters :\n");
		for(ParametersMap::iterator iter = pm.begin(); iter!=pm.end(); ++iter)
		{
			printf("    %s=%s\n",iter->first.c_str(), iter->second.c_str());
		}
	}
	if(rtabmap.getWM().size() || rtabmap.getSTM().size())
	{
		printf("[Warning] RTAB-Map database is not empty (%s)\n", (rtabmap.getWorkingDir()+Parameters::getDefaultDatabaseName()).c_str());
	}
	printf("\nProcessing images...\n");

	UTimer iterationTimer;
	UTimer rtabmapTimer;
	int imagesProcessed = 0;
	std::list<std::vector<float> > teleopActions;
	while(loopDataset <= repeat && g_forever)
	{
		cv::Mat img = camera->takeImage();
		int i=0;
		double maxIterationTime = 0.0;
		int maxIterationTimeId = 0;
		while(!img.empty() && g_forever)
		{
			++imagesProcessed;
			iterationTimer.start();
			rtabmapTimer.start();
			rtabmap.process(img);
			double rtabmapTime = rtabmapTimer.elapsed();
			loopClosureId = rtabmap.getLoopClosureId();
			if(rtabmap.getLoopClosureId())

int main(int argc, char * argv[])
{
	signal(SIGABRT, &sighandler);
	signal(SIGTERM, &sighandler);
	signal(SIGINT, &sighandler);

	ULogger::setType(ULogger::kTypeConsole);
	ULogger::setLevel(ULogger::kError);

	ParametersMap customParameters = Parameters::parseArguments(argc, argv);

	if(argc < 3)
	{
		showUsage();
	}

	bool assemble2dMap = false;
	bool assemble3dMap = false;
	bool assemble2dOctoMap = false;
	bool assemble3dOctoMap = false;
	bool useDatabaseRate = false;
	ParametersMap configParameters;
	for(int i=1; i<argc-2; ++i)
	{
		if(strcmp(argv[i], "-r") == 0 || strcmp(argv[i], "--r") == 0)
		{
			useDatabaseRate = true;
			printf("Using database stamps as input rate.\n");
		}
		else if (strcmp(argv[i], "-c") == 0 || strcmp(argv[i], "--c") == 0)
		{
			++i;
			if (i < argc - 2 && UFile::exists(argv[i]) && UFile::getExtension(argv[i]).compare("ini") == 0)
			{
				Parameters::readINI(argv[i], configParameters);
				printf("Using %d parameters from config file \"%s\"\n", (int)configParameters.size(), argv[i]);
			}
			else if(i < argc - 2)
			{
				printf("Config file \"%s\" is not valid or doesn't exist!\n", argv[i]);
			}
			else
			{
				printf("Config file is not set!\n");
			}
		}
		else if(strcmp(argv[i], "-g2") == 0 || strcmp(argv[i], "--g2") == 0)
		{
			assemble2dMap = true;
			printf("2D occupancy grid will be assembled (-g2 option).\n");
		}
		else if(strcmp(argv[i], "-g3") == 0 || strcmp(argv[i], "--g3") == 0)
		{
			assemble3dMap = true;
			printf("3D cloud map will be assembled (-g3 option).\n");
		}
		else if(strcmp(argv[i], "-o2") == 0 || strcmp(argv[i], "--o2") == 0)
		{
#ifdef RTABMAP_OCTOMAP
			assemble2dOctoMap = true;
			printf("OctoMap will be assembled (-o2 option).\n");
#else
			printf("RTAB-Map is not built with OctoMap support, cannot set -o2 option!\n");
#endif
		}
		else if(strcmp(argv[i], "-o3") == 0 || strcmp(argv[i], "--o3") == 0)
		{
#ifdef RTABMAP_OCTOMAP
			assemble3dOctoMap = true;
			printf("OctoMap will be assembled (-o3 option).\n");
#else
			printf("RTAB-Map is not built with OctoMap support, cannot set -o3 option!\n");
#endif
		}
	}

	std::string inputDatabasePath = uReplaceChar(argv[argc-2], '~', UDirectory::homeDir());
	std::string outputDatabasePath = uReplaceChar(argv[argc-1], '~', UDirectory::homeDir());

	std::list<std::string> databases = uSplit(inputDatabasePath, ';');
	if (databases.empty())
	{
		printf("No input database \"%s\" detected!\n", inputDatabasePath.c_str());
		return -1;
	}
	for (std::list<std::string>::iterator iter = databases.begin(); iter != databases.end(); ++iter)
	{
		if (!UFile::exists(*iter))
		{
			printf("Input database \"%s\" doesn't exist!\n", iter->c_str());
			return -1;
		}

		if (UFile::getExtension(*iter).compare("db") != 0)
		{
			printf("File \"%s\" is not a database format (*.db)!\n", iter->c_str());
			return -1;
		}
	}

//.........这里部分代码省略.........