debug GPU version

2021-05-26 10:50:20 +02:00
parent 1fba26dfef
commit cd6f0c5b97
58 changed files with 3828 additions and 425 deletions
@@ -0,0 +1,57 @@
+//
+// Created by root on 5/24/21.
+//
+
+#ifndef GPU_SVO_PARAMS_HELPER_H
+#define GPU_SVO_PARAMS_HELPER_H
+/*
+ * ros_params_helper.h
+ *
+ *  Created on: Feb 22, 2013
+ *      Author: cforster
+ *
+ * from libpointmatcher_ros
+ */
+
+#include <string>
+#include <ros/ros.h>
+
+namespace vk {
+
+    inline
+    bool hasParam(const std::string& name)
+    {
+        return ros::param::has(name);
+    }
+
+    template<typename T>
+    T getParam(const std::string& name, const T& defaultValue)
+    {
+        T v;
+        if(ros::param::get(name, v))
+        {
+            ROS_INFO_STREAM("Found parameter: " << name << ", value: " << v);
+            return v;
+        }
+        else
+            ROS_WARN_STREAM("Cannot find value for parameter: " << name << ", assigning default: " << defaultValue);
+        return defaultValue;
+    }
+
+    template<typename T>
+    T getParam(const std::string& name)
+    {
+        T v;
+        if(ros::param::get(name, v))
+        {
+            ROS_INFO_STREAM("Found parameter: " << name << ", value: " << v);
+            return v;
+        }
+        else
+            ROS_ERROR_STREAM("Cannot find value for parameter: " << name);
+        return T();
+    }
+
+} // namespace vk
+
+#endif //GPU_SVO_PARAMS_HELPER_H