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

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@731 f169173b-cf89-36c8-b27e-44dbe73f0c83

app/src/main.cpp

@@ -45,7 +45,7 @@ int main(int argc, char* argv[])
 	/* Start thread's task */
 	mainWindow->showNormal();
 
-	Rtabmap * rtabmap = new Rtabmap(mainWindow->getWorkingDirectory().toStdString(), false);
+	Rtabmap * rtabmap = new Rtabmap();
 	rtabmap->start(); // start it not initialized... will be initialized by event from the gui
 	UEventsManager::addHandler(rtabmap);
 

corelib/include/rtabmap/core/Rtabmap.h

@@ -66,18 +66,18 @@ public:
 
 public:
 	static std::string getVersion();
-	static void readParameters(const char * configFile, ParametersMap & parameters);
+	static void readParameters(const std::string & configFile, ParametersMap & parameters);
-	static void writeParameters(const char * configFile, const 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 ParametersMap & param, bool deleteMemory = true);
-	void init(const char * configFile = 0);
+	void init(const std::string & configFile = "", bool deleteMemory = true);
 	void clearBufferedSensors();
 
 	void close();

corelib/src/Rtabmap.cpp

@@ -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

examples/main.cpp

@@ -62,7 +62,7 @@ int main(int argc, char * argv[])
 	// Or SURF hessian treshold:
 	//   parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kSURFHessianThreshold(), "150"));
 
-	// Initialize rtabmap: load/create database...
+	// Initialize rtabmap: delete/create database...
 	rtabmap.init(parameters);
 
 	// Process each image of the directory...

tools/ConsoleApp/main.cpp

@@ -379,9 +379,12 @@ int main(int argc, char * argv[])
 	ULogger::setExitLevel(exitLevel);
 
 	// Create tasks : memory is deleted
-	Rtabmap rtabmap(Parameters::defaultRtabmapWorkingDirectory());
+	Rtabmap rtabmap;
 	// Disable statistics (we don't need them)
 	pm.insert(ParametersPair(Parameters::kRtabmapPublishStats(), uBool2Str(false)));
+	// use default working directory
+	pm.insert(ParametersPair(Parameters::kRtabmapWorkingDirectory(), Parameters::defaultRtabmapWorkingDirectory()));
+
 	rtabmap.init(pm);
 	rtabmap.setTimeThreshold(timeThreshold); // in ms