feat(slam): add rtabmap_ros

rtabmap/utilite/src/UFile.cpp

@@ -0,0 +1,103 @@
+/*
+*  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/UFile.h"
+
+#include <fstream>
+#include "rtabmap/utilite/UStl.h"
+
+bool UFile::exists(const std::string &filePath)
+{
+    bool fileExists = false;
+    std::ifstream in(filePath.c_str(), std::ios::in);
+    if (in.is_open())
+    {
+        fileExists = true;
+        in.close();   
+    }
+    return fileExists;
+}
+
+long UFile::length(const std::string &filePath)
+{
+    long fileSize = 0;
+    FILE* fp = 0;
+#ifdef _MSC_VER
+    fopen_s(&fp, filePath.c_str(), "rb");
+#else
+    fp = fopen(filePath.c_str(), "rb");
+#endif
+    if(fp == NULL)
+    {
+        return 0;
+    }
+
+    fseek(fp , 0 , SEEK_END);
+    fileSize = ftell(fp);
+    fclose(fp);
+
+    return fileSize;
+}
+
+int UFile::erase(const std::string &filePath)
+{
+    return std::remove(filePath.c_str());
+}
+
+int UFile::rename(const std::string &oldFilePath,
+                     const std::string &newFilePath)
+{
+    return std::rename(oldFilePath.c_str(), newFilePath.c_str());
+}
+
+std::string UFile::getName(const std::string & filePath)
+{
+	std::string fullPath = filePath;
+	std::string name;
+	for(int i=(int)fullPath.size()-1; i>=0; --i)
+	{
+		if(fullPath[i] == '/' || fullPath[i] == '\\')
+		{
+			break;
+		}
+		else
+		{
+			name.insert(name.begin(), fullPath[i]);
+		}
+	}
+	return name;
+}
+
+std::string UFile::getExtension(const std::string &filePath)
+{
+	std::list<std::string> list = uSplit(filePath, '.');
+	if(list.size())
+	{
+		return list.back();
+	}
+	return "";
+}
+
+void UFile::copy(const std::string & from, const std::string & to)
+{
+	std::ifstream src(from.c_str());
+	std::ofstream dst(to.c_str());
+
+	dst << src.rdbuf();
+}