rtabmap-info: added --dump ini option

introlab · Sep 8, 2023 · 01c2e70 · 01c2e70
1 parent fa4a2eb
commit 01c2e70
Showing 1 changed file with 23 additions and 2 deletions.
diff --git a/tools/Info/main.cpp b/tools/Info/main.cpp
@@ -26,7 +26,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
 #include <stdio.h>
-#include <string.h>
+#include <string.h>
 #include <stdlib.h>
 #include <signal.h>
 
@@ -59,6 +59,7 @@ void showUsage()
  " Options:\n"
  " --diff Show only modified parameters.\n"
  " --diff \"other_map.db\" Compare parameters with other database.\n"
+ " --dump \"config.ini\" Dump parameters in ini file.\n"
  "\n");
  exit(1);
 }
@@ -81,19 +82,33 @@ int main(int argc, char * argv[])
  }
 
  std::string otherDatabasePath;
+ std::string dumpFilePath;
  bool diff = false;
  for(int i=1; i<argc-1; ++i)
  {
  if(strcmp(argv[i], "--diff") == 0)
  {
  ++i;
- if(i<argc-1)
+ if(i<argc-1 && argv[i][0] != '-')
  {
  otherDatabasePath = uReplaceChar(argv[i], '~', UDirectory::homeDir());
  printf("Comparing with other database \"%s\"...\n", otherDatabasePath.c_str());
  }
  diff = true;
  }
+ if(strcmp(argv[i], "--dump") == 0)
+ {
+ ++i;
+ if(i<argc-1)
+ {
+ dumpFilePath = uReplaceChar(argv[i], '~', UDirectory::homeDir());
+ }
+ else
+ {
+ printf("--dump should have an output file path\n");
+ showUsage();
+ }
+ }
  }
 
  std::string databasePath = uReplaceChar(argv[argc-1], '~', UDirectory::homeDir());
@@ -112,6 +127,12 @@ int main(int argc, char * argv[])
  }
 
  ParametersMap parameters = driver->getLastParameters();
+ if(!dumpFilePath.empty())
+ {
+ Parameters::writeINI(dumpFilePath, parameters);
+ printf("%ld parameters exported to \"%s\".\n", parameters.size(), dumpFilePath.c_str());
+ return 0;
+ }
  ParametersMap defaultParameters = Parameters::getDefaultParameters();
  ParametersMap removedParameters = Parameters::getBackwardCompatibilityMap();
  std::string otherDatabasePathName;