Removed trailing separator from working directory. Replaced all slashes by QDir::separator().

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1935 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/src/Parameters.cpp

@@ -60,8 +60,6 @@ std::string Parameters::getDefaultWorkingDirectory()
 	{
 		UFATAL("Can't get the HOME variable environment!");
 	}
-
-	path += UDirectory::separator(); // add trailing separator
 	return path;
 }
 

corelib/src/Rtabmap.cpp

@@ -115,7 +115,7 @@ Rtabmap::Rtabmap() :
 	_memory(0),
 	_foutFloat(0),
 	_foutInt(0),
-	_wDir(std::string(".")+UDirectory::separator()),
+	_wDir("."),
 	_mapCorrection(Transform::getIdentity()),
 	_mapTransform(Transform::getIdentity())
 {
@@ -158,15 +158,15 @@ void Rtabmap::setupLogFiles(bool overwrite)
 			attributes = "w";
 		}
 
-		bool addLogFHeader = overwrite || !UFile::exists(_wDir+LOG_F);
+		bool addLogFHeader = overwrite || !UFile::exists(_wDir+"/"+LOG_F);
-		bool addLogIHeader = overwrite || !UFile::exists(_wDir+LOG_I);
+		bool addLogIHeader = overwrite || !UFile::exists(_wDir+"/"+LOG_I);
 
 	#ifdef _MSC_VER
-		fopen_s(&_foutFloat, (_wDir+LOG_F).c_str(), attributes.c_str());
+		fopen_s(&_foutFloat, (_wDir+"/"+LOG_F).c_str(), attributes.c_str());
-		fopen_s(&_foutInt, (_wDir+LOG_I).c_str(), attributes.c_str());
+		fopen_s(&_foutInt, (_wDir+"/"+LOG_I).c_str(), attributes.c_str());
 	#else
-		_foutFloat = fopen((_wDir+LOG_F).c_str(), attributes.c_str());
+		_foutFloat = fopen((_wDir+"/"+LOG_F).c_str(), attributes.c_str());
-		_foutInt = fopen((_wDir+LOG_I).c_str(), attributes.c_str());
+		_foutInt = fopen((_wDir+"/"+LOG_I).c_str(), attributes.c_str());
 	#endif
 		// add header (column identification)
 		if(_statisticLoggedHeaders && addLogFHeader && _foutFloat)
@@ -215,8 +215,8 @@ void Rtabmap::setupLogFiles(bool overwrite)
 			fprintf(_foutInt, " 17-Is last location merged through Weight Update?\n");
 		}
 
-		ULOGGER_DEBUG("Log file (int)=%s", (_wDir+LOG_I).c_str());
+		ULOGGER_DEBUG("Log file (int)=%s", (_wDir+"/"+LOG_I).c_str());
-		ULOGGER_DEBUG("Log file (float)=%s", (_wDir+LOG_F).c_str());
+		ULOGGER_DEBUG("Log file (float)=%s", (_wDir+"/"+LOG_F).c_str());
 	}
 	else
 	{
@@ -257,7 +257,7 @@ void Rtabmap::init(const ParametersMap & parameters, const std::string & databas
 	_databasePath = databasePath;
 	if(_databasePath.empty())
 	{
-		_databasePath = _wDir + Parameters::getDefaultDatabaseName();
+		_databasePath = _wDir + "/" + Parameters::getDefaultDatabaseName();
 	}
 	UINFO("Using database \"%s\".", _databasePath.c_str());
 	this->parseParameters(parameters);
@@ -1775,11 +1775,6 @@ void Rtabmap::setTimeThreshold(float maxTimeAllowed)
 
 void Rtabmap::setWorkingDirectory(std::string path)
 {
-	if(path.size() && (path.at(path.size()-1) != '\\' || path.at(path.size()-1) != '/' ))
-	{
-		path += UDirectory::separator();
-	}
-
 	if(!path.empty() && UDirectory::exists(path))
 	{
 		ULOGGER_DEBUG("Comparing new working directory path \"%s\" with \"%s\"", path.c_str(), _wDir.c_str());

examples/BOWMapping/main.cpp

@@ -97,7 +97,7 @@ int main(int argc, char * argv[])
 	// Appearance-based only, disable RGB-D mode
 	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDEnabled(), "false"));
 
-	std::string databasePath = rtabmap::Parameters::defaultRtabmapWorkingDirectory()+rtabmap::Parameters::getDefaultDatabaseName();
+	std::string databasePath = rtabmap::Parameters::defaultRtabmapWorkingDirectory()+"/"+rtabmap::Parameters::getDefaultDatabaseName();
 	if(localizationMode)
 	{
 		parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemIncrementalMemory(), "false"));

guilib/src/MainWindow.cpp

@@ -1441,10 +1441,10 @@ void MainWindow::processRtabmapEventInit(int status, const QString & info)
 	else if((RtabmapEventInit::Status)status == RtabmapEventInit::kClosed)
 	{
 		_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
-		if(_openedDatabasePath.compare(_preferencesDialog->getWorkingDirectory()+"/"+Parameters::getDefaultDatabaseName().c_str()) == 0)
+		if(_openedDatabasePath.compare(_preferencesDialog->getWorkingDirectory()+QDir::separator()+Parameters::getDefaultDatabaseName().c_str()) == 0)
 		{
 			// Temp database used, automatically backup with unique name (timestamp)
-			QString newName = _preferencesDialog->getWorkingDirectory()+(QString("/rtabmap_%1.db").arg(QDateTime::currentDateTime().toString("yyMMddhhmmss")));
+			QString newName = _preferencesDialog->getWorkingDirectory()+QDir::separator()+(QString("rtabmap_%1.db").arg(QDateTime::currentDateTime().toString("yyMMdd-hhmmsszzz")));
 			if(QFile::rename(_openedDatabasePath, newName))
 			{
 				std::string msg = uFormat("Database saved to \"%s\".", newName.toStdString().c_str());
@@ -1609,7 +1609,7 @@ void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
 		ULogger::setLevel((ULogger::Level)_preferencesDialog->getGeneralLoggerLevel());
 		ULogger::setEventLevel((ULogger::Level)_preferencesDialog->getGeneralLoggerEventLevel());
 		ULogger::setType((ULogger::Type)_preferencesDialog->getGeneralLoggerType(),
-						 ((_preferencesDialog->getWorkingDirectory()+"/")+LOG_FILE_NAME).toStdString(), true);
+						 (_preferencesDialog->getWorkingDirectory()+QDir::separator()+LOG_FILE_NAME).toStdString(), true);
 		ULogger::setPrintTime(_preferencesDialog->getGeneralLoggerPrintTime());
 	}
 }
@@ -1895,19 +1895,19 @@ void MainWindow::changeMappingMode()
 
 void MainWindow::captureScreen()
 {
-	QString targetDir = _preferencesDialog->getWorkingDirectory() + "/ScreensCaptured";
+	QString targetDir = _preferencesDialog->getWorkingDirectory() + QDir::separator() + "ScreensCaptured";
 	QDir dir;
 	if(!dir.exists(targetDir))
 	{
 		dir.mkdir(targetDir);
 	}
-	targetDir += "/";
+	targetDir += QDir::separator();
 	targetDir += "Main_window";
 	if(!dir.exists(targetDir))
 	{
 		dir.mkdir(targetDir);
 	}
-	targetDir += "/";
+	targetDir += QDir::separator();
 	QString name = (QDateTime::currentDateTime().toString("yyMMddhhmmsszzz") + ".png");
 	_ui->statusbar->clearMessage();
 	QPixmap figure = QPixmap::grabWidget(this);
@@ -1933,7 +1933,7 @@ void MainWindow::newDatabase()
 	_openedDatabasePath.clear();
 	ULOGGER_DEBUG("");
 	this->clearTheCache();
-	std::string databasePath = _preferencesDialog->getWorkingDirectory().toStdString()+"/"+Parameters::getDefaultDatabaseName();
+	std::string databasePath = (_preferencesDialog->getWorkingDirectory()+QDir::separator()+Parameters::getDefaultDatabaseName().c_str()).toStdString();
 	if(QFile::exists(databasePath.c_str()))
 	{
 		if(QFile::remove(databasePath.c_str()))
@@ -2421,7 +2421,7 @@ void MainWindow::generateMap()
 {
 	if(_graphSavingFileName.isEmpty())
 	{
-		_graphSavingFileName = _preferencesDialog->getWorkingDirectory() + "/Graph.dot";
+		_graphSavingFileName = _preferencesDialog->getWorkingDirectory() + QDir::separator() + "Graph.dot";
 	}
 	QString path = QFileDialog::getSaveFileName(this, tr("Save File"), _graphSavingFileName, tr("Graphiz file (*.dot)"));
 	if(!path.isEmpty())
@@ -2438,7 +2438,7 @@ void MainWindow::generateLocalMap()
 {
 	if(_graphSavingFileName.isEmpty())
 	{
-		_graphSavingFileName = _preferencesDialog->getWorkingDirectory() + "/Graph.dot";
+		_graphSavingFileName = _preferencesDialog->getWorkingDirectory() + QDir::separator() + "Graph.dot";
 	}
 
 	bool ok = false;
@@ -2480,7 +2480,7 @@ void MainWindow::generateTOROMap()
 {
 	if(_toroSavingFileName.isEmpty())
 	{
-		_toroSavingFileName = _preferencesDialog->getWorkingDirectory() + "/toro.graph";
+		_toroSavingFileName = _preferencesDialog->getWorkingDirectory() + QDir::separator() + "toro.graph";
 	}
 
 	QStringList items;
@@ -2596,10 +2596,9 @@ void MainWindow::openWorkingDirectory()
 void MainWindow::updateEditMenu()
 {
 	// Update Memory delete database size
-	if(_state != kMonitoring && _state != kMonitoringPaused)
+	if(_state != kMonitoring && _state != kMonitoringPaused && !_openedDatabasePath.isEmpty())
 	{
-		QString dbPath = _preferencesDialog->getWorkingDirectory() + "/rtabmap.db";
+		_ui->actionDelete_memory->setText(tr("Delete memory (%1 MB)").arg(UFile::length(_openedDatabasePath.toStdString())/1000000));
-		_ui->actionDelete_memory->setText(tr("Delete memory (%1 MB)").arg(UFile::length(dbPath.toStdString())/1000000));
 	}
 }
 
@@ -3442,7 +3441,7 @@ void MainWindow::saveClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGB
 {
 	if(clouds.size() == 1)
 	{
-		QString path = QFileDialog::getSaveFileName(this, tr("Save to ..."), _preferencesDialog->getWorkingDirectory()+"/cloud.ply", tr("Point cloud data (*.ply *.pcd)"));
+		QString path = QFileDialog::getSaveFileName(this, tr("Save to ..."), _preferencesDialog->getWorkingDirectory()+QDir::separator()+"cloud.ply", tr("Point cloud data (*.ply *.pcd)"));
 		if(!path.isEmpty())
 		{
 			if(clouds.begin()->second->size())
@@ -3550,7 +3549,7 @@ void MainWindow::saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes)
 {
 	if(meshes.size() == 1)
 	{
-		QString path = QFileDialog::getSaveFileName(this, tr("Save to ..."), _preferencesDialog->getWorkingDirectory()+"/mesh.ply", tr("Mesh (*.ply)"));
+		QString path = QFileDialog::getSaveFileName(this, tr("Save to ..."), _preferencesDialog->getWorkingDirectory()+QDir::separator()+"mesh.ply", tr("Mesh (*.ply)"));
 		if(!path.isEmpty())
 		{
 			if(meshes.begin()->second->polygons.size())
@@ -3649,7 +3648,7 @@ void MainWindow::saveScans(const std::map<int, pcl::PointCloud<pcl::PointXYZ>::P
 {
 	if(scans.size() == 1)
 	{
-		QString path = QFileDialog::getSaveFileName(this, tr("Save to ..."), _preferencesDialog->getWorkingDirectory()+"/scan.ply", tr("Point cloud data (*.ply *.pcd)"));
+		QString path = QFileDialog::getSaveFileName(this, tr("Save to ..."), _preferencesDialog->getWorkingDirectory()+QDir::separator()+"scan.ply", tr("Point cloud data (*.ply *.pcd)"));
 		if(!path.isEmpty())
 		{
 			if(scans.begin()->second->size())

guilib/src/PreferencesDialog.cpp

@@ -1191,7 +1191,7 @@ bool PreferencesDialog::readCoreSettings(const QString & filePath)
 
 bool PreferencesDialog::saveConfigTo()
 {
-	QString path = QFileDialog::getSaveFileName(this, tr("Save settings..."), this->getWorkingDirectory()+"/config.ini", "*.ini");
+	QString path = QFileDialog::getSaveFileName(this, tr("Save settings..."), this->getWorkingDirectory()+QDir::separator()+"config.ini", "*.ini");
 	if(!path.isEmpty())
 	{
 		this->writeSettings(path);