本文整理汇总了C++中CConfigFile::read_int方法的典型用法代码示例。如果您正苦于以下问题：C++ CConfigFile::read_int方法的具体用法？C++ CConfigFile::read_int怎么用？C++ CConfigFile::read_int使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类CConfigFile的用法示例。
在下文中一共展示了CConfigFile::read_int方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: Run_KF_SLAM
void Run_KF_SLAM( CConfigFile &cfgFile, const std::string &rawlogFileName )
{
// The EKF-SLAM class:
typedef kfslam_traits<IMPL> traits_t; // Traits for this KF implementation (2D or 3D)
typedef typename traits_t::ekfslam_t ekfslam_t;
ekfslam_t mapping;
// The rawlog file:
// ----------------------------------------
const unsigned int rawlog_offset = cfgFile.read_int("MappingApplication","rawlog_offset",0);
const unsigned int SAVE_LOG_FREQUENCY= cfgFile.read_int("MappingApplication","SAVE_LOG_FREQUENCY",1);
const bool SAVE_DA_LOG = cfgFile.read_bool("MappingApplication","SAVE_DA_LOG", true);
const bool SAVE_3D_SCENES = cfgFile.read_bool("MappingApplication","SAVE_3D_SCENES", true);
const bool SAVE_MAP_REPRESENTATIONS = cfgFile.read_bool("MappingApplication","SAVE_MAP_REPRESENTATIONS", true);
bool SHOW_3D_LIVE = cfgFile.read_bool("MappingApplication","SHOW_3D_LIVE", false);
const bool CAMERA_3DSCENE_FOLLOWS_ROBOT = cfgFile.read_bool("MappingApplication","CAMERA_3DSCENE_FOLLOWS_ROBOT", false);
#if !MRPT_HAS_WXWIDGETS
SHOW_3D_LIVE = false;
#endif
string OUT_DIR = cfgFile.read_string("MappingApplication","logOutput_dir","OUT_KF-SLAM");
string ground_truth_file = cfgFile.read_string("MappingApplication","ground_truth_file","");
string ground_truth_file_robot= cfgFile.read_string("MappingApplication","ground_truth_file_robot","");
string ground_truth_data_association = cfgFile.read_string("MappingApplication","ground_truth_data_association","");
cout << "RAWLOG FILE:" << endl << rawlogFileName << endl;
ASSERT_FILE_EXISTS_( rawlogFileName )
CFileGZInputStream rawlogFile( rawlogFileName );
cout << "---------------------------------------------------" << endl << endl;
deleteFilesInDirectory(OUT_DIR);
createDirectory(OUT_DIR);
// Load the config options for mapping:
// ----------------------------------------
mapping.loadOptions( cfgFile );
mapping.KF_options.dumpToConsole();
mapping.options.dumpToConsole();
// debug:
//mapping.KF_options.use_analytic_observation_jacobian = true;
//mapping.KF_options.use_analytic_transition_jacobian = true;
//mapping.KF_options.debug_verify_analytic_jacobians = true;
// Is there ground truth of the robot poses??
CMatrixDouble GT_PATH(0,0);
if (ground_truth_file_robot.size() && fileExists(ground_truth_file_robot))
{
GT_PATH.loadFromTextFile(ground_truth_file_robot);
ASSERT_(size(GT_PATH,1)>0 && size(GT_PATH,2)==6)
}示例2: Run_KF_SLAM
void Run_KF_SLAM(CConfigFile& cfgFile, const std::string& rawlogFileName)
{
// The EKF-SLAM class:
// Traits for this KF implementation (2D or 3D)
using traits_t = kfslam_traits<IMPL>;
using ekfslam_t = typename traits_t::ekfslam_t;
ekfslam_t mapping;
// The rawlog file:
// ----------------------------------------
const unsigned int rawlog_offset =
cfgFile.read_int("MappingApplication", "rawlog_offset", 0);
const unsigned int SAVE_LOG_FREQUENCY =
cfgFile.read_int("MappingApplication", "SAVE_LOG_FREQUENCY", 1);
const bool SAVE_DA_LOG =
cfgFile.read_bool("MappingApplication", "SAVE_DA_LOG", true);
const bool SAVE_3D_SCENES =
cfgFile.read_bool("MappingApplication", "SAVE_3D_SCENES", true);
const bool SAVE_MAP_REPRESENTATIONS = cfgFile.read_bool(
"MappingApplication", "SAVE_MAP_REPRESENTATIONS", true);
bool SHOW_3D_LIVE =
cfgFile.read_bool("MappingApplication", "SHOW_3D_LIVE", false);
const bool CAMERA_3DSCENE_FOLLOWS_ROBOT = cfgFile.read_bool(
"MappingApplication", "CAMERA_3DSCENE_FOLLOWS_ROBOT", false);
#if !MRPT_HAS_WXWIDGETS
SHOW_3D_LIVE = false;
#endif
string OUT_DIR = cfgFile.read_string(
"MappingApplication", "logOutput_dir", "OUT_KF-SLAM");
string ground_truth_file =
cfgFile.read_string("MappingApplication", "ground_truth_file", "");
string ground_truth_file_robot = cfgFile.read_string(
"MappingApplication", "ground_truth_file_robot", "");
string ground_truth_data_association = cfgFile.read_string(
"MappingApplication", "ground_truth_data_association", "");
cout << "RAWLOG FILE:" << endl << rawlogFileName << endl;
ASSERT_FILE_EXISTS_(rawlogFileName);
CFileGZInputStream rawlogFile(rawlogFileName);
cout << "---------------------------------------------------" << endl
<< endl;
deleteFilesInDirectory(OUT_DIR);
createDirectory(OUT_DIR);
// Load the config options for mapping:
// ----------------------------------------
mapping.loadOptions(cfgFile);
mapping.KF_options.dumpToConsole();
mapping.options.dumpToConsole();
// debug:
// mapping.KF_options.use_analytic_observation_jacobian = true;
// mapping.KF_options.use_analytic_transition_jacobian = true;
// mapping.KF_options.debug_verify_analytic_jacobians = true;
// Is there ground truth of the robot poses??
CMatrixDouble GT_PATH(0, 0);
if (ground_truth_file_robot.size() && fileExists(ground_truth_file_robot))
{
GT_PATH.loadFromTextFile(ground_truth_file_robot);
ASSERT_(GT_PATH.rows() > 0 && GT_PATH.cols() == 6);
}
// Is there a ground truth file of the data association?
std::map<double, std::vector<int>>
GT_DA; // Map: timestamp -> vector(index in observation -> real index)
mrpt::containers::bimap<int, int> DA2GTDA_indices; // Landmark indices
// bimapping: SLAM DA <--->
// GROUND TRUTH DA
if (!ground_truth_data_association.empty() &&
fileExists(ground_truth_data_association))
{
CMatrixDouble mGT_DA;
mGT_DA.loadFromTextFile(ground_truth_data_association);
ASSERT_ABOVEEQ_(mGT_DA.cols(), 3);
// Convert the loaded matrix into a std::map in GT_DA:
for (int i = 0; i < mGT_DA.rows(); i++)
{
std::vector<int>& v = GT_DA[mGT_DA(i, 0)];
if (v.size() <= mGT_DA(i, 1)) v.resize(mGT_DA(i, 1) + 1);
v[mGT_DA(i, 1)] = mGT_DA(i, 2);
}
cout << "Loaded " << GT_DA.size()
<< " entries from DA ground truth file\n";
}
// Create output file for DA perf:
std::ofstream out_da_performance_log;
{
const std::string f = std::string(
OUT_DIR + std::string("/data_association_performance.log"));
//.........这里部分代码省略.........