init GPU

CPU_version/svo/test/test_utils.h

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+// This file is part of SVO - Semi-direct Visual Odometry.
+//
+// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
+// (Robotics and Perception Group, University of Zurich, Switzerland).
+//
+// SVO is free software: you can redistribute it and/or modify it under the
+// terms of the GNU General Public License as published by the Free Software
+// Foundation, either version 3 of the License, or any later version.
+//
+// SVO 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 General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef TEST_UTILS_H_
+#define TEST_UTILS_H_
+
+#include <string.h>
+#include <cstdlib> // for getenv
+#ifdef SVO_USE_ROS
+# include <ros/package.h>
+# include <vikit/params_helper.h>
+#endif
+
+namespace svo {
+namespace test_utils {
+
+std::string getDatasetDir()
+{
+  const char* env_dir = std::getenv("SVO_DATASET_DIR");
+#ifdef SVO_USE_ROS
+  std::string dataset_dir(ros::package::getPath("svo")+"/test/data");
+  if(env_dir != NULL)
+    dataset_dir = std::string(env_dir);
+  return dataset_dir;
+#else
+  return std::string(env_dir);
+#endif
+}
+
+std::string getTraceDir()
+{
+#ifdef SVO_USE_ROS
+  std::string default_dir(ros::package::getPath("svo")+"/test/results");
+  return vk::getParam<std::string>("svo/trace_dir", default_dir);
+#else
+  return "/tmp";
+#endif
+}
+
+} // namespace test_utils
+} // namespace svo
+
+
+#endif // TEST_UTILS_H_