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Author: gitouni

src/examples/floam_backend.cpp

@@ -7,14 +7,14 @@
 
 int main(int argc, char** argv){
     argparse::ArgumentParser parser("Back-end optimization of F-LOAM");
-    parser.add_argument("--config").help("config file").required();
-    parser.add_argument("--raw_pose").help("raw pose of the F-LOAM").required();
-    parser.add_argument("--velo_dir").help("directory of velodyne pcd files").required();
+    parser.add_argument("config").help("config file").required();
+    parser.add_argument("raw_pose").help("raw pose of the F-LOAM").required();
+    parser.add_argument("velo_dir").help("directory of velodyne pcd files").required();
     parser.parse_args(argc, argv);
-    std::string yaml_file(parser.get<std::string>("--config"));
+    std::string yaml_file(parser.get<std::string>("config"));
     assert(file_exist(yaml_file));
-    std::string input_pose_file(parser.get<std::string>("--raw_pose"));
-    std::string input_lidar_dir(parser.get<std::string>("--velo_dir"));
+    std::string input_pose_file(parser.get<std::string>("raw_pose"));
+    std::string input_lidar_dir(parser.get<std::string>("velo_dir"));
 
     auto option = BackEndOption();
     YAML::Node config = YAML::LoadFile(yaml_file);

src/examples/floam_kitti.cpp

@@ -14,10 +14,10 @@ void writeKittiData(std::ofstream &fs, Eigen::Isometry3d &mat, bool end=false);
 int main(int argc, char **argv)
 {
     argparse::ArgumentParser parser("floam_kitti");
-    parser.add_argument("--velo_dir").help("directory of velodyne pcd files").required();
-    parser.add_argument("--output").help("file to write output poses").required();
+    parser.add_argument("velo_dir").help("directory of velodyne pcd files").required();
+    parser.add_argument("output").help("file to write output poses").required();
     parser.parse_args(argc, argv);
-    std::string velo_dir(parser.get<std::string>("--velo_dir")), res_file(parser.get<std::string>("--output"));
+    std::string velo_dir(parser.get<std::string>("velo_dir")), res_file(parser.get<std::string>("output"));
     checkpath(velo_dir);
     if(!file_exist(velo_dir)){
         throw std::runtime_error("Velodyne Directory: "+velo_dir+" does not exsit.");

src/examples/he_calib.cpp

@@ -12,9 +12,9 @@
 int main(int argc, char** argv)
 {
     argparse::ArgumentParser parser("Hand-eye Calib");
-    parser.add_argument("--config").help("config file for hand-eye calibration.").required();
+    parser.add_argument("config").help("config file for hand-eye calibration.").required();
     parser.parse_args(argc, argv);
-    std::string config_file(parser.get<std::string>("--config"));
+    std::string config_file(parser.get<std::string>("config"));
     YAML::Node config = YAML::LoadFile(config_file);
     const YAML::Node &io_config = config["io"];
     const YAML::Node &runtime_config = config["runtime"];

src/examples/iba_global.cpp

@@ -406,9 +406,9 @@ class BALoss: public NOMAD::Evaluator
 
 int main(int argc, char** argv){
     argparse::ArgumentParser parser("global optimization");
-    parser.add_argument("--config").help("config_file").required();
+    parser.add_argument("config").help("config_file").required();
     parser.parse_args(argc, argv);
-    std::string config_file(parser.get<std::string>("--config"));
+    std::string config_file(parser.get<std::string>("config"));
     YAML::Node config = YAML::LoadFile(config_file);
     const YAML::Node &io_config = config["io"];
     const YAML::Node &orb_config = config["orb"];

src/examples/orb_kitti_store.cpp

@@ -80,23 +80,23 @@ void visual_odometry(ORB_SLAM2::System* SLAM, double slow_rate, std::vector<Eige
 
 int main(int argc, char** argv){
     argparse::ArgumentParser parser("ORB-SLAM with Keyframes storation process");
-    parser.add_argument("--seq_dir").help("parent directory of the directory of image files.").required();
-    parser.add_argument("--orb_yaml").help("directory of ORB yaml files").required();
-    parser.add_argument("--orb_voc").help("Vocabulary file of DBoW2/DBow3").required();
-    parser.add_argument("--output_pose").help("--directory to save poses of Keyframes.").required();
-    parser.add_argument("--keyframe_dir").help("--directory to save information of KeyFrames").required();
-    parser.add_argument("--map_file").help("--directory to save visual map").required();
+    parser.add_argument("seq_dir").help("parent directory of the directory of image files.").required();
+    parser.add_argument("orb_yaml").help("directory of ORB yaml files").required();
+    parser.add_argument("orb_voc").help("Vocabulary file of DBoW2/DBow3").required();
+    parser.add_argument("output_pose").help("--directory to save poses of Keyframes.").required();
+    parser.add_argument("keyframe_dir").help("--directory to save information of KeyFrames").required();
+    parser.add_argument("map_file").help("--directory to save visual map").required();
     parser.add_argument("--slow_rate").help("slow rate of runtime").scan<'g',double>().default_value(1.5);
     parser.add_argument("--img_dir").help("relative directory of images").default_value("image_0/");
     parser.add_argument("--timefile").help("timestamp file").default_value("times.txt");
     parser.parse_args(argc, argv);
 
-    std::string seq_dir(parser.get<std::string>("--seq_dir"));
-    std::string orb_yml(parser.get<std::string>("--orb_yaml"));
-    std::string orb_voc(parser.get<std::string>("--orb_voc"));
-    std::string TwcFile(parser.get<std::string>("--output_pose")); // output
-    std::string keyframe_dir(parser.get<std::string>("--keyframe_dir")); // output
-    std::string mapfile(parser.get<std::string>("--map_file"));
+    std::string seq_dir(parser.get<std::string>("seq_dir"));
+    std::string orb_yml(parser.get<std::string>("orb_yaml"));
+    std::string orb_voc(parser.get<std::string>("orb_voc"));
+    std::string TwcFile(parser.get<std::string>("output_pose")); // output
+    std::string keyframe_dir(parser.get<std::string>("keyframe_dir")); // output
+    std::string mapfile(parser.get<std::string>("map_file"));
     double slow_rate = parser.get<double>("--slow_rate");
     checkpath(seq_dir);
     checkpath(keyframe_dir);