ch9/proj

project/0.1/include/myslam/config.h

@@ -0,0 +1,49 @@
+/*
+ * <one line to give the program's name and a brief idea of what it does.>
+ * Copyright (C) 2016 <copyright holder> <email>
+ *
+ * This program 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
+ * (at your option) any later version.
+ *
+ * This program 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:https://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifndef CONFIG_H
+#define CONFIG_H
+
+#include "myslam/common_include.h" 
+
+namespace myslam 
+{
+class Config
+{
+private:
+ static std::shared_ptr<Config> config_; 
+ cv::FileStorage file_;
+
+ Config () {} // private constructor makes a singleton
+public:
+ ~Config(); // close the file when deconstructing 
+
+ // set a new config file 
+ static void setParameterFile( const std::string& filename ); 
+
+ // access the parameter values
+ template< typename T >
+ static T get( const std::string& key )
+ {
+ return T( Config::config_->file_[key] );
+ }
+};
+}
+
+#endif // CONFIG_H

project/0.1/src/CMakeLists.txt

@@ -3,8 +3,9 @@ add_library( myslam SHARED
  mappoint.cpp
  map.cpp
  camera.cpp
+ config.cpp
 )
 
 target_link_libraries( myslam
  ${THIRD_PARTY_LIBS}
-)
+)

project/0.1/src/config.cpp

@@ -0,0 +1,46 @@
+/*
+ * <one line to give the program's name and a brief idea of what it does.>
+ * Copyright (C) 2016 <copyright holder> <email>
+ *
+ * This program 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
+ * (at your option) any later version.
+ *
+ * This program 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:https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "myslam/config.h"
+
+namespace myslam 
+{
+
+void Config::setParameterFile( const std::string& filename )
+{
+ if ( config_ == nullptr )
+ config_ = shared_ptr<Config>(new Config);
+ config_->file_ = cv::FileStorage( filename.c_str(), cv::FileStorage::READ );
+ if ( config_->file_.isOpened() == false )
+ {
+ std::cerr<<"parameter file "<<filename<<" does not exist."<<std::endl;
+ config_->file_.release();
+ return;
+ }
+}
+
+Config::~Config()
+{
+ if ( file_.isOpened() )
+ file_.release();
+}
+
+shared_ptr<Config> Config::config_ = nullptr;
+
+}