fxing temp dir on windows

corelib/test/TestUtils.h

@@ -0,0 +1,48 @@
+#ifndef RTABMAP_CORELIB_TEST_TESTUTILS_H_
+#define RTABMAP_CORELIB_TEST_TESTUTILS_H_
+
+#include <cstdlib>
+#include <string>
+
+#ifdef _WIN32
+#include <process.h>
+#else
+#include <unistd.h>
+#endif
+
+namespace rtabmap {
+namespace test {
+
+// Portable PID. MSVC has _getpid() in <process.h>; POSIX has getpid() in
+// <unistd.h>. Tests typically use this to disambiguate temp file names
+// across parallel runs.
+inline int getPid()
+{
+#ifdef _WIN32
+	return _getpid();
+#else
+	return ::getpid();
+#endif
+}
+
+// Portable replacement for hardcoded "/tmp/<name>". /tmp doesn't exist on
+// Windows so any test that wrote there failed to open the file. This honors
+// TEMP/TMP on Windows and TMPDIR on POSIX, with an OS-appropriate fallback.
+// Forward slash is accepted by Win32 APIs so we don't bother converting.
+inline std::string tempPath(const std::string & name)
+{
+#ifdef _WIN32
+	const char * dir = std::getenv("TEMP");
+	if(!dir) dir = std::getenv("TMP");
+	if(!dir) dir = "C:/Temp";
+#else
+	const char * dir = std::getenv("TMPDIR");
+	if(!dir) dir = "/tmp";
+#endif
+	return std::string(dir) + "/" + name;
+}
+
+} // namespace test
+} // namespace rtabmap
+
+#endif // RTABMAP_CORELIB_TEST_TESTUTILS_H_