Included UtiLite library directly in Rtabmap source (to simplify the installation)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@856 f169173b-cf89-36c8-b27e-44dbe73f0c83

utilite/src/UProcessInfo.cpp

@@ -0,0 +1,78 @@
+/*
+*  utilite is a cross-platform library with
+*  useful utilities for fast and small developing.
+*  Copyright (C) 2010  Mathieu Labbe
+*
+*  utilite is free library: you can redistribute it and/or modify
+*  it under the terms of the GNU Lesser General Public License as published by
+*  the Free Software Foundation, either version 3 of the License, or
+*  (at your option) any later version.
+*
+*  utilite is distributed in the hope that it will be useful,
+*  but WITHOUT ANY WARRANTY; without even the implied warranty of
+*  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+*  GNU Lesser General Public License for more details.
+*
+*  You should have received a copy of the GNU Lesser General Public License
+*  along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "rtabmap/utilite/UProcessInfo.h"
+
+#ifdef WIN32
+#include "Windows.h"
+#include "Psapi.h"
+#elif __APPLE__
+#include <sys/resource.h>
+#else
+#include <fstream>
+#include <stdlib.h>
+#include "rtabmap/utilite/UStl.h"
+#endif
+
+UProcessInfo::UProcessInfo() {}
+
+UProcessInfo::~UProcessInfo() {}
+
+// return in bytes
+long int UProcessInfo::getMemoryUsage()
+{
+	long int memoryUsage = -1;
+
+#ifdef WIN32
+		HANDLE hProc = GetCurrentProcess();
+		PROCESS_MEMORY_COUNTERS info;
+		BOOL okay = GetProcessMemoryInfo(hProc, &info, sizeof(info));
+		if(okay)
+		{
+			memoryUsage = info.WorkingSetSize;
+		}
+#elif __APPLE__
+		rusage u;
+		if(getrusage(RUSAGE_SELF, &u) == 0)
+		{
+			memoryUsage = u.ru_maxrss;
+		}
+#else
+		std::fstream file("/proc/self/status", std::fstream::in);
+		if(file.is_open())
+		{
+			std::string bytes;
+			while(std::getline(file, bytes))
+			{
+				if(bytes.find("VmRSS") != bytes.npos)
+				{
+					std::list<std::string> strs = uSplit(bytes, ' ');
+					if(strs.size()>1)
+					{
+						memoryUsage = atol(uValueAt(strs,1).c_str()) * 1024;
+					}
+					break;
+				}
+			}
+			file.close();
+		}
+#endif
+
+	return memoryUsage;
+}