void CRandomFieldGridMap3D::TInsertionOptions::loadFromConfigFile(
const mrpt::config::CConfigFileBase& iniFile, const std::string& section)
{
GMRF_lambdaPrior = iniFile.read_double(
section.c_str(), "GMRF_lambdaPrior", GMRF_lambdaPrior);
GMRF_skip_variance = iniFile.read_bool(
section.c_str(), "GMRF_skip_variance", GMRF_skip_variance);
}
void CCascadeClassifierDetection::init(
const mrpt::config::CConfigFileBase& config)
{
#if MRPT_HAS_OPENCV && MRPT_OPENCV_VERSION_NUM >= 0x200
// load configuration values
m_options.cascadeFileName =
config.read_string("CascadeClassifier", "cascadeFilename", "");
m_options.scaleFactor =
config.read_double("DetectionOptions", "scaleFactor", 1.1);
m_options.minNeighbors =
config.read_int("DetectionOptions", "minNeighbors", 3);
m_options.flags = config.read_int("DetectionOptions", "flags", 0);
m_options.minSize = config.read_int("DetectionOptions", "minSize", 30);
m_cascade = new CascadeClassifier();
// Load cascade classifier from file
CASCADE->load(m_options.cascadeFileName);
// Check if cascade is empty
if (CASCADE->empty()) throw std::runtime_error("Incorrect cascade file.");
#endif
}
/* -----------------------------------------------------
loadConfig_sensorSpecific
----------------------------------------------------- */
void CGPSInterface::loadConfig_sensorSpecific(
const mrpt::config::CConfigFileBase& configSource,
const std::string& iniSection)
{
m_parser = configSource.read_enum<CGPSInterface::PARSERS>(
iniSection, "parser", m_parser, false /*Allow default values*/);
m_raw_dump_file_prefix = configSource.read_string(
iniSection, "raw_dump_file_prefix", m_raw_dump_file_prefix,
false /*Allow default values*/);
#ifdef _WIN32
m_COMname =
configSource.read_string(iniSection, "COM_port_WIN", m_COMname, true);
#else
m_COMname =
configSource.read_string(iniSection, "COM_port_LIN", m_COMname, true);
#endif
m_COMbauds =
configSource.read_int(iniSection, "baudRate", m_COMbauds, true);
m_sensorLabelAppendMsgType = configSource.read_bool(
iniSection, "sensor_label_append_msg_type", m_sensorLabelAppendMsgType);
// legacy custom cmds:
m_customInit =
configSource.read_string(iniSection, "customInit", m_customInit, false);
// new custom cmds:
m_custom_cmds_delay = configSource.read_float(
iniSection, "custom_cmds_delay", m_custom_cmds_delay);
m_custom_cmds_append_CRLF = configSource.read_bool(
iniSection, "custom_cmds_append_CRLF", m_custom_cmds_append_CRLF);
// Load as many strings as found on the way:
m_setup_cmds.clear();
for (int i = 1; true; i++)
{
std::string sLine = configSource.read_string(
iniSection, mrpt::format("setup_cmd%i", i), std::string());
sLine = mrpt::system::trim(sLine);
if (sLine.empty()) break;
m_setup_cmds.push_back(sLine);
}
m_shutdown_cmds.clear();
for (int i = 1; true; i++)
{
std::string sLine = configSource.read_string(
iniSection, mrpt::format("shutdown_cmd%i", i), std::string());
sLine = mrpt::system::trim(sLine);
if (sLine.empty()) break;
m_shutdown_cmds.push_back(sLine);
}
m_sensorPose.setFromValues(
configSource.read_float(iniSection, "pose_x", 0),
configSource.read_float(iniSection, "pose_y", 0),
configSource.read_float(iniSection, "pose_z", 0),
DEG2RAD(configSource.read_float(iniSection, "pose_yaw", 0)),
DEG2RAD(configSource.read_float(iniSection, "pose_pitch", 0)),
DEG2RAD(configSource.read_float(iniSection, "pose_roll", 0)));
m_JAVAD_rtk_src_port = configSource.read_string(
iniSection, "JAVAD_rtk_src_port", m_JAVAD_rtk_src_port);
m_JAVAD_rtk_src_baud = configSource.read_int(
iniSection, "JAVAD_rtk_src_baud", m_JAVAD_rtk_src_baud);
m_JAVAD_rtk_format = configSource.read_string(
iniSection, "JAVAD_rtk_format", m_JAVAD_rtk_format);
m_topcon_useAIMMode = configSource.read_bool(
iniSection, "JAVAD_useAIMMode", m_topcon_useAIMMode);
m_topcon_data_period =
1.0 / configSource.read_double(
iniSection, "outputRate", m_topcon_data_period);
}
