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Added RTABMAP_SYNC_USER_DATA (default OFF) and RTABMAP_SYNC_MULTI_RGBD (default ON, OFF on windows) build options. Fixed some compilation errors on Windows.

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This commit is contained in:
matlabbe
2020-03-12 01:03:35 -04:00
parent c73ddc0577
commit aec4fe6bcc
14 changed files with 234 additions and 39 deletions
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src/CoreWrapper.cpp
+4 -1
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@@ -241,6 +241,7 @@ void CoreWrapper::onInit()
configPath_ = uReplaceChar(configPath_, '~', UDirectory::homeDir());
databasePath_ = uReplaceChar(databasePath_, '~', UDirectory::homeDir());
#ifndef _WIN32
if(configPath_.size() && configPath_.at(0) != '/')
{
configPath_ = UDirectory::currentDir(true) + configPath_;
@@ -249,6 +250,7 @@ void CoreWrapper::onInit()
{
databasePath_ = UDirectory::currentDir(true) + databasePath_;
}
#endif
ParametersMap allParameters = Parameters::getDefaultParameters();
// remove Odom parameters
@@ -322,7 +324,7 @@ void CoreWrapper::onInit()
//parse input arguments
std::vector<std::string> argList = getMyArgv();
char * argv[argList.size()];
char ** argv = new char*[argList.size()];
bool deleteDbOnStart = false;
for(unsigned int i=0; i<argList.size(); ++i)
{
@@ -333,6 +335,7 @@ void CoreWrapper::onInit()
}
}
rtabmap::ParametersMap parameters = rtabmap::Parameters::parseArguments(argList.size(), argv);
delete [] argv;
for(ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
uInsert(parameters_, ParametersPair(iter->first, iter->second));