changed all std::atof() to uStr2Float() to fix locale comma float conversion problem

corelib/src/BayesFilter.cpp

@@ -75,7 +75,7 @@ void BayesFilter::setPredictionLC(const std::string & prediction)
 		bool valid = true;
 		for(std::list<std::string>::iterator iter = strValues.begin(); iter!=strValues.end(); ++iter)
 		{
-			tmpValues[i] = std::atof((*iter).c_str());
+			tmpValues[i] = uStr2Float((*iter).c_str());
 			//UINFO("%d=%e", i, tmpValues[i]);
 			if(tmpValues[i] < 0.0 || tmpValues[i]>1.0)
 			{

corelib/src/Features2d.cpp

@@ -251,7 +251,7 @@ cv::Rect Feature2D::computeRoi(const cv::Mat & image, const std::string & roiRat
 		unsigned int i=0;
 		for(std::list<std::string>::iterator iter = strValues.begin(); iter!=strValues.end(); ++iter)
 		{
-			values[i] = std::atof((*iter).c_str());
+			values[i] = uStr2Float(*iter);
 			++i;
 		}
 

corelib/src/Graph.cpp

@@ -439,12 +439,12 @@ bool loadTOROGraph(const std::string & fileName,
 			{
 				//VERTEX3
 				int id = atoi(strList[1].c_str());
-				float x = atof(strList[2].c_str());
+				float x = uStr2Float(strList[2]);
-				float y = atof(strList[3].c_str());
+				float y = uStr2Float(strList[3]);
-				float z = atof(strList[4].c_str());
+				float z = uStr2Float(strList[4]);
-				float roll = atof(strList[5].c_str());
+				float roll = uStr2Float(strList[5]);
-				float pitch = atof(strList[6].c_str());
+				float pitch = uStr2Float(strList[6]);
-				float yaw = atof(strList[7].c_str());
+				float yaw = uStr2Float(strList[7]);
 				Transform pose = Transform::fromEigen3f(pcl::getTransformation(x, y, z, roll, pitch, yaw));
 				std::map<int, Transform>::iterator iter = poses.find(id);
 				if(iter != poses.end())
@@ -461,12 +461,12 @@ bool loadTOROGraph(const std::string & fileName,
 				//EDGE3
 				int idFrom = atoi(strList[1].c_str());
 				int idTo = atoi(strList[2].c_str());
-				float x = atof(strList[3].c_str());
+				float x = uStr2Float(strList[3]);
-				float y = atof(strList[4].c_str());
+				float y = uStr2Float(strList[4]);
-				float z = atof(strList[5].c_str());
+				float z = uStr2Float(strList[5]);
-				float roll = atof(strList[6].c_str());
+				float roll = uStr2Float(strList[6]);
-				float pitch = atof(strList[7].c_str());
+				float pitch = uStr2Float(strList[7]);
-				float yaw = atof(strList[8].c_str());
+				float yaw = uStr2Float(strList[8]);
 				Transform transform = Transform::fromEigen3f(pcl::getTransformation(x, y, z, roll, pitch, yaw));
 				if(poses.find(idFrom) != poses.end() && poses.find(idTo) != poses.end())
 				{

corelib/src/Memory.cpp

@@ -611,7 +611,7 @@ void Memory::setRoi(const std::string & roi)
 		unsigned int i=0;
 		for(std::list<std::string>::iterator iter = strValues.begin(); iter!=strValues.end(); ++iter)
 		{
-			tmpValues[i] = std::atof((*iter).c_str());
+			tmpValues[i] = uStr2Float(*iter);
 			++i;
 		}
 

corelib/src/Parameters.cpp

@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UConversion.h>
 #include <math.h>
 #include <stdlib.h>
+#include <sstream>
 
 namespace rtabmap
 {
@@ -112,7 +113,7 @@ void Parameters::parse(const ParametersMap & parameters, const std::string & key
 	ParametersMap::const_iterator iter = parameters.find(key);
 	if(iter != parameters.end())
 	{
-		value = atof(iter->second.c_str());
+		value = uStr2Float(iter->second);
 	}
 }
 void Parameters::parse(const ParametersMap & parameters, const std::string & key, double & value)
@@ -120,7 +121,7 @@ void Parameters::parse(const ParametersMap & parameters, const std::string & key
 	ParametersMap::const_iterator iter = parameters.find(key);
 	if(iter != parameters.end())
 	{
-		value = atof(iter->second.c_str());
+		value = uStr2Double(iter->second);
 	}
 }
 void Parameters::parse(const ParametersMap & parameters, const std::string & key, std::string & value)

corelib/src/VWDictionary.cpp

@@ -71,7 +71,7 @@ void VWDictionary::parseParameters(const ParametersMap & parameters)
 	Parameters::parse(parameters, Parameters::kKpNndrRatio(), _nndrRatio);
 	Parameters::parse(parameters, Parameters::kKpNewWordsComparedTogether(), _newWordsComparedTogether);
 
-	UASSERT(_nndrRatio > 0.0f);
+	UASSERT_MSG(_nndrRatio > 0.0f, uFormat("String=%s value=%f", uContains(parameters, Parameters::kKpNndrRatio())?parameters.at(Parameters::kKpNndrRatio()).c_str():"", _nndrRatio).c_str());
 
 	std::string dictionaryPath = _dictionaryPath;
 	bool incrementalDictionary = _incrementalDictionary;
@@ -167,7 +167,7 @@ void VWDictionary::setFixedDictionary(const std::string & dictionaryPath)
 							//get descriptor
 							for(;i<dimension && iter != strList.end(); ++i, ++iter)
 							{
-								descriptor.at<float>(i) = std::atof(iter->c_str());
+								descriptor.at<float>(i) = uStr2Float(*iter);
 							}
 							if(i != dimension)
 							{

guilib/src/MainWindow.cpp

@@ -423,7 +423,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	// update loop closure viewer parameters
 	ParametersMap parameters = _preferencesDialog->getAllParameters();
 	_ui->widget_loopClosureViewer->setDecimation(atoi(parameters.at(Parameters::kLccIcp3Decimation()).c_str()));
-	_ui->widget_loopClosureViewer->setMaxDepth(atof(parameters.at(Parameters::kLccIcp3MaxDepth()).c_str()));
+	_ui->widget_loopClosureViewer->setMaxDepth(uStr2Float(parameters.at(Parameters::kLccIcp3MaxDepth())));
 	_ui->widget_loopClosureViewer->setSamples(atoi(parameters.at(Parameters::kLccIcp3Samples()).c_str()));
 
 	//update ui
@@ -1942,7 +1942,7 @@ void MainWindow::applyPrefSettings(const rtabmap::ParametersMap & parameters)
 		}
 		if(uContains(parameters, Parameters::kLccIcp3MaxDepth()))
 		{
-			_ui->widget_loopClosureViewer->setMaxDepth(atof(parameters.at(Parameters::kLccIcp3MaxDepth()).c_str()));
+			_ui->widget_loopClosureViewer->setMaxDepth(uStr2Float(parameters.at(Parameters::kLccIcp3MaxDepth())));
 		}
 		if(uContains(parameters, Parameters::kLccIcp3Samples()))
 		{
@@ -2320,8 +2320,8 @@ void MainWindow::startDetection()
 	   _preferencesDialog->isSourceDatabaseUsed())
 	{
 		float inputRate = _preferencesDialog->getGeneralInputRate();
-		float detectionRate = std::atof(parameters.at(Parameters::kRtabmapDetectionRate()).c_str());
+		float detectionRate = uStr2Float(parameters.at(Parameters::kRtabmapDetectionRate()));
-		int bufferingSize = std::atof(parameters.at(Parameters::kRtabmapImageBufferSize()).c_str());
+		int bufferingSize = uStr2Float(parameters.at(Parameters::kRtabmapImageBufferSize()));
 		if((detectionRate!=0.0f && detectionRate < inputRate) || (detectionRate > 0.0f && inputRate == 0.0f))
 		{
 			int button = QMessageBox::question(this,

tools/Camera/main.cpp

@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/ULogger.h"
 #include "rtabmap/utilite/UFile.h"
 #include "rtabmap/utilite/UDirectory.h"
+#include "rtabmap/utilite/UConversion.h"
 #include <opencv2/highgui/highgui.hpp>
 #include <stdio.h>
 
@@ -61,7 +62,7 @@ int main(int argc, char * argv[])
 			++i;
 			if(i < argc)
 			{
-				rate = std::atof(argv[i]);
+				rate = uStr2Float(argv[i]);
 				if(rate < 0)
 				{
 					showUsage();

tools/ConsoleApp/main.cpp

@@ -144,7 +144,7 @@ int main(int argc, char * argv[])
 			++i;
 			if(i < argc)
 			{
-				rate = std::atof(argv[i]);
+				rate = uStr2Float(argv[i]);
 				if(rate < 0)
 				{
 					showUsage();
@@ -161,7 +161,7 @@ int main(int argc, char * argv[])
 			++i;
 			if(i < argc)
 			{
-				rate = std::atof(argv[i]);
+				rate = uStr2Float(argv[i]);
 				if(rate < 0)
 				{
 					showUsage();

tools/DataRecorder/main.cpp

@@ -27,6 +27,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <rtabmap/utilite/ULogger.h>
 #include <rtabmap/utilite/UFile.h>
+#include <rtabmap/utilite/UConversion.h>
 #include <rtabmap/core/CameraThread.h>
 #include <rtabmap/core/CameraRGBD.h>
 #include <rtabmap/core/Camera.h>
@@ -91,7 +92,7 @@ int main (int argc, char * argv[])
 			++i;
 			if(i < argc)
 			{
-				rate = std::atof(argv[i]);
+				rate = uStr2Float(argv[i]);
 				if(rate < 0.0f)
 				{
 					showUsage();

tools/ExtractObject/main.cpp

@@ -72,7 +72,7 @@ int main(int argc, char *argv[])
 			++i;
 			if(i < argc)
 			{
-				planeDistanceThreshold = std::atof(argv[i]);
+				planeDistanceThreshold = uStr2Float(argv[i]);
 				if(planeDistanceThreshold < 0.0f)
 				{
 					showUsage();
@@ -89,7 +89,7 @@ int main(int argc, char *argv[])
 			++i;
 			if(i < argc)
 			{
-				planeEpsAngle = std::atof(argv[i]);
+				planeEpsAngle = uStr2Float(argv[i]);
 				if(planeEpsAngle < 0.0f)
 				{
 					showUsage();
@@ -106,7 +106,7 @@ int main(int argc, char *argv[])
 			++i;
 			if(i < argc)
 			{
-				clusterTolerance = std::atof(argv[i]);
+				clusterTolerance = uStr2Float(argv[i]);
 				if(clusterTolerance <= 0.0f)
 				{
 					showUsage();

tools/OdometryViewer/main.cpp

@@ -175,7 +175,7 @@ int main (int argc, char * argv[])
 			++i;
 			if(i < argc)
 			{
-				nndr = std::atof(argv[i]);
+				nndr = uStr2Float(argv[i]);
 				if(nndr < 0.0f)
 				{
 					showUsage();
@@ -192,7 +192,7 @@ int main (int argc, char * argv[])
 			++i;
 			if(i < argc)
 			{
-				rate = std::atof(argv[i]);
+				rate = uStr2Float(argv[i]);
 				if(rate < 0)
 				{
 					showUsage();
@@ -244,7 +244,7 @@ int main (int argc, char * argv[])
 			++i;
 			if(i < argc)
 			{
-				sec = std::atof(argv[i]);
+				sec = uStr2Float(argv[i]);
 				if(sec < 0.0f)
 				{
 					showUsage();
@@ -261,7 +261,7 @@ int main (int argc, char * argv[])
 			++i;
 			if(i < argc)
 			{
-				distance = std::atof(argv[i]);
+				distance = uStr2Float(argv[i]);
 				if(distance <= 0)
 				{
 					showUsage();
@@ -312,7 +312,7 @@ int main (int argc, char * argv[])
 			++i;
 			if(i < argc)
 			{
-				maxDepth = std::atof(argv[i]);
+				maxDepth = uStr2Float(argv[i]);
 				if(maxDepth < 0)
 				{
 					showUsage();
@@ -380,7 +380,7 @@ int main (int argc, char * argv[])
 			++i;
 			if(i < argc)
 			{
-				voxel = std::atof(argv[i]);
+				voxel = uStr2Float(argv[i]);
 				if(voxel < 0)
 				{
 					showUsage();
@@ -414,7 +414,7 @@ int main (int argc, char * argv[])
 			++i;
 			if(i < argc)
 			{
-				ratio = std::atof(argv[i]);
+				ratio = uStr2Float(argv[i]);
 				if(ratio < 0.0f)
 				{
 					showUsage();

tools/VocabularyComparison/main.cpp

@@ -117,7 +117,7 @@ int main(int argc, char * argv[])
 					//get descriptor
 					for(;i<dimension && iter != strList.end(); ++i, ++iter)
 					{
-						descriptor[i] = std::atof(iter->c_str());
+						descriptor[i] = uStr2Float(*iter);
 					}
 					if(i != dimension)
 					{

utilite/include/rtabmap/utilite/UConversion.h

@@ -117,6 +117,22 @@ std::string UTILITE_EXP uNumber2Str(float number);
  */
 std::string UTILITE_EXP uNumber2Str(double number);
 
+
+/**
+ * Convert a string to a float independent of the locale (comma/dot).
+ * @param the string
+ * @return the number
+ */
+float UTILITE_EXP uStr2Float(const std::string & str);
+
+/**
+ * Convert a string to a double independent of the locale (comma/dot).
+ * @param the string
+ * @return the number
+ */
+double UTILITE_EXP uStr2Double(const std::string & str);
+
+
 /**
  * Convert a bool to a string.
  * The format used is "true" and "false".

utilite/src/UConversion.cpp

@@ -113,6 +113,24 @@ std::string uNumber2Str(double number)
 	return s.str();
 }
 
+float uStr2Float(const std::string & str)
+{
+	float value = 0.0f;
+	std::istringstream istr(uReplaceChar(str, ',', '.').c_str());
+	istr.imbue(std::locale("C"));
+	istr >> value;
+	return value;
+}
+
+double uStr2Double(const std::string & str)
+{
+	double value = 0.0;
+	std::istringstream istr(uReplaceChar(str, ',', '.').c_str());
+	istr.imbue(std::locale("C"));
+	istr >> value;
+	return value;
+}
+
 std::string uBool2Str(bool boolean)
 {
 	std::string s;