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OdometryOKVIS: added warning if config file doesn't exist, also replace ~ by home directory for convenience

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matlabbe
2019-03-20 13:10:14 -04:00
parent b2fe138dbf
commit 24a4d91ee8
1 changed files with 8 additions and 5 deletions
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13
corelib/src/odometry/OdometryOkvis.cpp
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@@ -32,6 +32,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/utilite/UTimer.h" #include "rtabmap/utilite/UTimer.h"
#include "rtabmap/utilite/UStl.h" #include "rtabmap/utilite/UStl.h"
#include "rtabmap/utilite/UThread.h" #include "rtabmap/utilite/UThread.h"
#include "rtabmap/utilite/UFile.h"
#include "rtabmap/utilite/UDirectory.h"
#include <opencv2/imgproc/types_c.h> #include <opencv2/imgproc/types_c.h>
#ifdef RTABMAP_OKVIS #ifdef RTABMAP_OKVIS
@@ -140,9 +142,10 @@ OdometryOkvis::OdometryOkvis(const ParametersMap & parameters) :
{ {
#ifdef RTABMAP_OKVIS #ifdef RTABMAP_OKVIS
Parameters::parse(parameters, Parameters::kOdomOKVISConfigPath(), configFilename_); Parameters::parse(parameters, Parameters::kOdomOKVISConfigPath(), configFilename_);
if(configFilename_.empty()) configFilename_ = uReplaceChar(configFilename_, '~', UDirectory::homeDir());
if(configFilename_.empty() || !UFile::exists(configFilename_))
{ {
UERROR("OKVIS config file is empty (%s)!", Parameters::kOdomOKVISConfigPath().c_str()); UERROR("OKVIS config file is empty or doesn't exist (%s)!", Parameters::kOdomOKVISConfigPath().c_str());
} }
#endif #endif
} }
@@ -283,14 +286,14 @@ Transform OdometryOkvis::computeTransform(
} }
okvis::VioParameters parameters; okvis::VioParameters parameters;
if(configFilename_.empty()) if(configFilename_.empty() || !UFile::exists(configFilename_))
{ {
UERROR("OKVIS config file is empty (%s)!", Parameters::kOdomOKVISConfigPath().c_str()); UERROR("OKVIS config file is empty or doesn't exist (%s)!", Parameters::kOdomOKVISConfigPath().c_str());
return t; return t;
} }
else else
{ {
okvis::VioParametersReader vio_parameters_reader(configFilename_); okvis::VioParametersReader vio_parameters_reader(uReplaceChar(configFilename_, '~', UDirectory::homeDir()));
vio_parameters_reader.getParameters(parameters); vio_parameters_reader.getParameters(parameters);
if(parameters.nCameraSystem.numCameras() > 0) if(parameters.nCameraSystem.numCameras() > 0)
{ {