os_specific.c
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1 // g2o - General Graph Optimization
2 // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
3 // All rights reserved.
4 //
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are
7 // met:
8 //
9 // * Redistributions of source code must retain the above copyright notice,
10 // this list of conditions and the following disclaimer.
11 // * Redistributions in binary form must reproduce the above copyright
12 // notice, this list of conditions and the following disclaimer in the
13 // documentation and/or other materials provided with the distribution.
14 //
15 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
16 // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
17 // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
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19 // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
20 // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
21 // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
22 // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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25 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 
27 #include "os_specific.h"
28 
29 #ifdef WINDOWS
30 
31 int vasprintf(char** strp, const char* fmt, va_list ap)
32 {
33  int n;
34  int size = 100;
35  char* p;
36  char* np;
37 
38  if ((p = (char*)malloc(size * sizeof(char))) == NULL)
39  return -1;
40 
41  while (1) {
42 #ifdef _MSC_VER
43  n = vsnprintf_s(p, size, size - 1, fmt, ap);
44 #else
45  n = vsnprintf(p, size, fmt, ap);
46 #endif
47  if (n > -1 && n < size) {
48  *strp = p;
49  return n;
50  }
51  if (n > -1)
52  size = n+1;
53  else
54  size *= 2;
55  if ((np = (char*)realloc (p, size * sizeof(char))) == NULL) {
56  free(p);
57  return -1;
58  } else
59  p = np;
60  }
61 }
62 
63 
64 #endif


orb_slam2_with_maps_odom
Author(s): teng zhang
autogenerated on Fri Sep 25 2020 03:24:47