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Merged pcl_integration branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-12-11 00:12:44 +00:00
parent 97c70d394e
commit 8b8511e154
124 changed files with 21692 additions and 4458 deletions
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corelib/src/Parameters.cpp
+84 -1
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@@ -20,11 +20,15 @@
#include "rtabmap/core/Parameters.h"
#include <rtabmap/utilite/UDirectory.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UConversion.h>
#include <math.h>
#include <stdlib.h>
namespace rtabmap
{
ParametersMap Parameters::parameters_;
ParametersMap Parameters::descriptions_;
Parameters Parameters::instance_;
Parameters::Parameters()
@@ -37,18 +41,97 @@ Parameters::~Parameters()
std::string Parameters::getDefaultWorkingDirectory()
{
#ifdef DEMO_BUILD
std::string path = "."; // current directory
#else
std::string path = UDirectory::homeDir();
if(!path.empty())
{
UDirectory::makeDir(path += UDirectory::separator() + "Documents");
UDirectory::makeDir(path += UDirectory::separator() + "RTAB-Map");
path += UDirectory::separator(); // add trailing separator
}
else
{
UFATAL("Can't get the HOME variable environment!");
}
#endif
path += UDirectory::separator(); // add trailing separator
return path;
}
std::string Parameters::getDefaultDatabasePath()
{
return getDefaultWorkingDirectory() + getDefaultDatabaseName();
}
std::string Parameters::getDefaultDatabaseName()
{
return "rtabmap.db";
}
std::string Parameters::getDescription(const std::string & paramKey)
{
std::string description;
ParametersMap::iterator iter = descriptions_.find(paramKey);
if(iter != descriptions_.end())
{
description = iter->second;
}
else
{
UERROR("Parameters \"%s\" doesn't exist!", paramKey.c_str());
}
return description;
}
void Parameters::parse(const ParametersMap & parameters, const std::string & key, bool & value)
{
ParametersMap::const_iterator iter = parameters.find(key);
if(iter != parameters.end())
{
value = uStr2Bool(iter->second.c_str());
}
}
void Parameters::parse(const ParametersMap & parameters, const std::string & key, int & value)
{
ParametersMap::const_iterator iter = parameters.find(key);
if(iter != parameters.end())
{
value = atoi(iter->second.c_str());
}
}
void Parameters::parse(const ParametersMap & parameters, const std::string & key, unsigned int & value)
{
ParametersMap::const_iterator iter = parameters.find(key);
if(iter != parameters.end())
{
value = atoi(iter->second.c_str());
}
}
void Parameters::parse(const ParametersMap & parameters, const std::string & key, float & value)
{
ParametersMap::const_iterator iter = parameters.find(key);
if(iter != parameters.end())
{
value = atof(iter->second.c_str());
}
}
void Parameters::parse(const ParametersMap & parameters, const std::string & key, double & value)
{
ParametersMap::const_iterator iter = parameters.find(key);
if(iter != parameters.end())
{
value = atof(iter->second.c_str());
}
}
void Parameters::parse(const ParametersMap & parameters, const std::string & key, std::string & value)
{
ParametersMap::const_iterator iter = parameters.find(key);
if(iter != parameters.end())
{
value = iter->second;
}
}
}