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rtabmap: setup working directory and deleting memory is done in init() instead of the Rtabmap constructor.

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@731 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-01-13 19:59:53 +00:00
parent 167a839fed
commit 0452aec181
5 changed files with 32 additions and 25 deletions
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10
corelib/include/rtabmap/core/Rtabmap.h
View File

@@ -66,18 +66,18 @@ public:
public:
static std::string getVersion();
static void readParameters(const char * configFile, ParametersMap & parameters);
static void writeParameters(const char * configFile, const ParametersMap & parameters);
static void readParameters(const std::string & configFile, ParametersMap & parameters);
static void writeParameters(const std::string & configFile, const ParametersMap & parameters);
public:
Rtabmap(const std::string & workingDirectory = ".", bool deleteMemory = true);
Rtabmap();
virtual ~Rtabmap();
void process(const cv::Mat & image); // for convenience
void process(const Image & image); // for convenience
void init(const ParametersMap & param);
void init(const char * configFile = 0);
void init(const ParametersMap & param, bool deleteMemory = true);
void init(const std::string & configFile = "", bool deleteMemory = true);
void clearBufferedSensors();
void close();

38
corelib/src/Rtabmap.cpp
View File

@@ -56,7 +56,7 @@ namespace rtabmap
{
const char * Rtabmap::kDefaultDatabaseName = "LTM.db";
Rtabmap::Rtabmap(const std::string & workingDirectory, bool deleteMemory) :
Rtabmap::Rtabmap() :
_publishStats(Parameters::defaultRtabmapPublishStats()),
_publishImage(Parameters::defaultRtabmapPublishImage()),
_publishPdf(Parameters::defaultRtabmapPublishPdf()),
@@ -81,11 +81,6 @@ Rtabmap::Rtabmap(const std::string & workingDirectory, bool deleteMemory) :
_foutFloat(0),
_foutInt(0)
{
this->setWorkingDirectory(workingDirectory);
if(deleteMemory)
{
this->resetMemory(true);
}
}
Rtabmap::~Rtabmap() {
@@ -258,31 +253,40 @@ void Rtabmap::pushNewState(State newState, const ParametersMap & parameters)
_imageAdded.release();
}
void Rtabmap::init(const ParametersMap & parameters)
void Rtabmap::init(const ParametersMap & parameters, bool deleteMemory)
{
if(this->isRunning())
{
pushNewState(kStateChangingParameters, parameters);
if(deleteMemory)
{
pushNewState(kStateDeletingMemory);
}
}
else
{
if(deleteMemory)
{
this->resetMemory(true);
}
this->parseParameters(parameters);
}
setupLogFiles();
}
void Rtabmap::init(const char * configFile)
void Rtabmap::init(const std::string & configFile, bool deleteMemory)
{
// fill ctrl struct with values from the configuration file
ParametersMap param;// = Parameters::defaultParameters;
if(configFile)
if(!configFile.empty())
{
ULOGGER_DEBUG("Read parameters from = %s", configFile);
ULOGGER_DEBUG("Read parameters from = %s", configFile.c_str());
this->readParameters(configFile, param);
}
this->init(param);
this->init(param, deleteMemory);
}
void Rtabmap::close()
@@ -1615,10 +1619,10 @@ void Rtabmap::generateLocalGraph(const std::string & path, int id, int margin)
}
}
void Rtabmap::readParameters(const char * configFile, ParametersMap & parameters)
void Rtabmap::readParameters(const std::string & configFile, ParametersMap & parameters)
{
CSimpleIniA ini;
ini.LoadFile(configFile);
ini.LoadFile(configFile.c_str());
const CSimpleIniA::TKeyVal * keyValMap = ini.GetSection("Core");
if(keyValMap)
{
@@ -1638,14 +1642,14 @@ void Rtabmap::readParameters(const char * configFile, ParametersMap & parameters
{
ULOGGER_WARN("Section \"Core\" in %s doesn't exist... "
"Ignore this warning if the ini file does not exist yet. "
"The ini file will be automatically created when this node will close.", configFile);
"The ini file will be automatically created when this node will close.", configFile.c_str());
}
}
void Rtabmap::writeParameters(const char * configFile, const ParametersMap & parameters)
void Rtabmap::writeParameters(const std::string & configFile, const ParametersMap & parameters)
{
CSimpleIniA ini;
ini.LoadFile(configFile);
ini.LoadFile(configFile.c_str());
for(ParametersMap::const_iterator i=parameters.begin(); i!=parameters.end(); ++i)
{
@@ -1654,7 +1658,7 @@ void Rtabmap::writeParameters(const char * configFile, const ParametersMap & par
ini.SetValue("Core", key.c_str(), (*i).second.c_str(), NULL, true);
}
ini.SaveFile(configFile);
ini.SaveFile(configFile.c_str());
}
} // namespace rtabmap