feat(slam): add rtabmap_ros

rtabmap/utilite/resource_generator/main.cpp

@@ -0,0 +1,170 @@
+/*
+*  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/UtiLite.h"
+
+#include <fstream>
+#include <iostream>
+#include <string.h>
+
+void showUsage()
+{
+	printf("Usage:\n"
+			"uresourcegenerator.exe [option] \"file1\" \"file2\" ... \n"
+			"  Create a file named \"file\".h with string\n"
+			"  variable named \"file\" which contains the data of the file.\n"
+			"  Warning, it overwrites the target file\n"
+			"  Options:\n"
+			"     -n \"namespace\"      namespace used\n"
+			"     -p \"targetPath\"     target path where the file is created\n"
+			"     -v                    version of the UtiLite library\n");
+	exit(1);
+}
+
+int main(int argc, char * argv[])
+{
+	if(argc < 2)
+	{
+		showUsage();
+	}
+	else if(argc == 2 && strcmp(argv[1], "-v") == 0)
+	{
+		printf("%s\n", UTILITE_VERSION);
+		exit(0);
+	}
+
+	std::string targetDir = UDirectory::currentDir(); // By default, use the current directory
+	std::string nspace; // namespace
+
+	int k;
+	for(k=1; k<(argc-1); ++k)
+	{
+		if(strcmp(argv[k], "-n") == 0)
+		{
+			if(!(k+1<(argc-1)))
+			{
+				showUsage();
+			}
+			nspace = argv[k+1];
+			printf(" Using namespace=%s\n", nspace.c_str());
+			++k;
+		}
+		else if(strcmp(argv[k], "-p") == 0)
+		{
+			if(!(k+1<(argc-1)))
+			{
+				showUsage();
+			}
+			targetDir = argv[k+1];
+			printf(" Using target directory=%s\n", targetDir.c_str());
+			++k;
+		}
+		else
+		{
+			break;
+		}
+	}
+
+	while(k < argc)
+	{
+		std::string filePath = argv[k];
+		std::string varName = UFile::getName(argv[k]);
+		// replace '_'
+		for(unsigned int i=0; i<varName.size(); ++i)
+		{
+			if(!((varName[i] >= '0' && varName[i] <= '9') ||
+				(varName[i] >= 'A' && varName[i] <= 'Z') ||
+				(varName[i] >= 'a' && varName[i] <= 'z')))
+			{
+				varName[i] = '_';
+			}
+		}
+		std::string targetFileName = varName + ".h";
+		// upper case
+		for(unsigned int i=0; i<varName.size(); ++i)
+		{
+			if(varName[i] >= 'a' && varName[i] <= 'z')
+			{
+				varName[i] -= 32; // upper case
+			}
+		}
+
+		std::fstream outFile;
+		std::fstream inFile;
+		outFile.open(((targetDir + "/") + targetFileName).c_str(), std::fstream::out);
+		inFile.open(filePath.c_str(), std::fstream::in | std::fstream::binary);
+
+		printf("Input file \"%s\" size = %ld bytes\n", filePath.c_str(), UFile::length(filePath));
+		if(outFile.is_open() && inFile.is_open())
+		{
+			outFile << "/*This is a generated file...*/\n\n";
+			outFile << "#ifndef " << varName << "_H\n";
+			outFile << "#define " << varName << "_H\n\n";
+
+			if(!nspace.empty())
+			{
+				outFile << "namespace " << nspace.c_str() << "\n{\n\n";
+			}
+
+			outFile << "static const char * " << varName.c_str() << " = ";
+
+			if(!inFile.good())
+			{
+				outFile << "\"\""; //empty string
+			}
+			else
+			{
+				std::string startLine = "\n   \"";
+				std::string endLine = "\"";
+				std::vector<char> buffer(1024);
+				while(inFile.good())
+				{
+					inFile.read(buffer.data(), 1024);
+					std::streamsize count = inFile.gcount();
+					if(count)
+					{
+						outFile.write(startLine.c_str(), startLine.size());
+
+						std::string hex = uBytes2Hex(buffer.data(), count);
+						outFile.write(hex.c_str(), hex.size());
+
+						outFile.write(endLine.c_str(), endLine.size());
+					}
+				}
+			}
+
+			std::string endOfVar = ";\n\n";
+			outFile.write(endOfVar.c_str(), endOfVar.size());
+
+			if(!nspace.empty())
+			{
+				outFile << "}\n\n";
+			}
+
+			outFile << "#endif //" << varName << "_H\n\n";
+		}
+
+		outFile.close();
+		inFile.close();
+
+		printf("Output file \"%s\" size = %ld bytes\n", ((targetDir + "/") + targetFileName).c_str(), UFile::length(((targetDir + "/") + targetFileName).c_str()));
+		++k;
+	}
+
+}