58 lines
1.6 KiB
C++
58 lines
1.6 KiB
C++
// This file is part of SVO - Semi-direct Visual Odometry.
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//
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// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
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// (Robotics and Perception Group, University of Zurich, Switzerland).
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//
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// SVO is free software: you can redistribute it and/or modify it under the
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// terms of the GNU General Public License as published by the Free Software
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// Foundation, either version 3 of the License, or any later version.
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//
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// SVO is distributed in the hope that it will be useful, but WITHOUT ANY
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// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program. If not, see <http://www.gnu.org/licenses/>.
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#ifndef TEST_UTILS_H_
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#define TEST_UTILS_H_
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#include <string.h>
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#include <cstdlib> // for getenv
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#ifdef SVO_USE_ROS
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# include <ros/package.h>
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# include <vikit/params_helper.h>
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#endif
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namespace svo {
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namespace test_utils {
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std::string getDatasetDir()
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{
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const char* env_dir = std::getenv("SVO_DATASET_DIR");
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#ifdef SVO_USE_ROS
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std::string dataset_dir(ros::package::getPath("svo")+"/test/data");
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if(env_dir != NULL)
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dataset_dir = std::string(env_dir);
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return dataset_dir;
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#else
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return std::string(env_dir);
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#endif
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}
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std::string getTraceDir()
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{
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#ifdef SVO_USE_ROS
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std::string default_dir(ros::package::getPath("svo")+"/test/results");
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return vk::getParam<std::string>("svo/trace_dir", default_dir);
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#else
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return "/tmp";
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#endif
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}
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} // namespace test_utils
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} // namespace svo
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#endif // TEST_UTILS_H_
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