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Upgraded trunk version to 0.7.1

Browse Source 
Added version in ini config file
Fixed rtabmap-console for loop closure detection-only

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1823 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-02 15:12:56 +00:00
parent c441cc1d0f
commit 2badfb5faf
5 changed files with 80 additions and 12 deletions
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CMakeLists.txt
+1 -1
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@@ -16,7 +16,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
#######################
SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 7)
SET(RTABMAP_PATCH_VERSION 0)
SET(RTABMAP_PATCH_VERSION 1)
SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
Version.h.in
+5 -5
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@@ -29,13 +29,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#define VERSION_H_
// This is auto-generated!
#define RTABMAP_VERSION "@PROJECT_VERSION@";
#define RTABMAP_VERSION "@PROJECT_VERSION@"
#define RTABMAP_VERSION_MAJOR @PROJECT_VERSION_MAJOR@;
#define RTABMAP_VERSION_MINOR @PROJECT_VERSION_MINOR@;
#define RTABMAP_VERSION_PATCH @PROJECT_VERSION_PATCH@;
#define RTABMAP_VERSION_MAJOR @PROJECT_VERSION_MAJOR@
#define RTABMAP_VERSION_MINOR @PROJECT_VERSION_MINOR@
#define RTABMAP_VERSION_PATCH @PROJECT_VERSION_PATCH@
#define RTABMAP_VERSION_COMPARE(major, minor, patch) major>=@PROJECT_VERSION_MAJOR@ && minor>=@PROJECT_VERSION_MINOR@ && patch >=@PROJECT_VERSION_PATCH@
#define RTABMAP_VERSION_COMPARE(major, minor, patch) (major>=@PROJECT_VERSION_MAJOR@ && minor>=@PROJECT_VERSION_MINOR@ && patch >=@PROJECT_VERSION_PATCH@)
#endif /* VERSION_H_ */
corelib/src/Rtabmap.cpp
+40 -5
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@@ -2390,13 +2390,45 @@ void Rtabmap::readParameters(const std::string & configFile, ParametersMap & par
for(CSimpleIniA::TKeyVal::const_iterator iter=keyValMap->begin(); iter!=keyValMap->end(); ++iter)
{
std::string key = (*iter).first.pItem;
key = uReplaceChar(key, '\\', '/'); // Ini files use \ by default for separators, so replace them
ParametersMap::iterator jter = parameters.find(key);
if(jter != parameters.end())
if(key.compare("Version") == 0)
{
parameters.erase(jter);
// Compare version in ini with the current RTAB-Map version
std::vector<std::string> version = uListToVector(uSplit((*iter).second, '.'));
if(version.size() == 3)
{
if(!RTABMAP_VERSION_COMPARE(std::atoi(version[0].c_str()), std::atoi(version[1].c_str()), std::atoi(version[2].c_str())))
{
if(configFile.find(".rtabmap") != std::string::npos)
{
UWARN("Version in the config file \"%s\" is more recent (\"%s\") than "
"current RTAB-Map version used (\"%s\"). The config file will be upgraded "
"to new version.",
configFile.c_str(),
(*iter).second,
RTABMAP_VERSION);
}
else
{
UERROR("Version in the config file \"%s\" is more recent (\"%s\") than "
"current RTAB-Map version used (\"%s\"). New parameters (if there are some) will "
"be ignored.",
configFile.c_str(),
(*iter).second,
RTABMAP_VERSION);
}
}
}
}
else
{
key = uReplaceChar(key, '\\', '/'); // Ini files use \ by default for separators, so replace them
ParametersMap::iterator jter = parameters.find(key);
if(jter != parameters.end())
{
parameters.erase(jter);
}
parameters.insert(ParametersPair(key, (*iter).second));
}
parameters.insert(ParametersPair(key, (*iter).second));
}
}
else
@@ -2412,6 +2444,9 @@ void Rtabmap::writeParameters(const std::string & configFile, const ParametersMa
CSimpleIniA ini;
ini.LoadFile(configFile.c_str());
// Save current version
ini.SetValue("Core", "Version", RTABMAP_VERSION, NULL, true);
for(ParametersMap::const_iterator i=parameters.begin(); i!=parameters.end(); ++i)
{
std::string key = (*i).first;
guilib/src/PreferencesDialog.cpp
+32
View File
@@ -44,6 +44,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "ui_preferencesDialog.h"
#include "rtabmap/core/Version.h"
#include "rtabmap/core/Rtabmap.h"
#include "rtabmap/core/Parameters.h"
#include "rtabmap/core/Odometry.h"
@@ -1101,6 +1102,34 @@ bool PreferencesDialog::readCoreSettings(const QString & filePath)
settings.beginGroup("Core");
// Compare version in ini with the current RTAB-Map version
QStringList version = settings.value("Version", "").toString().split('.');
if(version.size() == 3)
{
if(!RTABMAP_VERSION_COMPARE(version[0].toInt(), version[1].toInt(), version[2].toInt()))
{
if(path.contains(".rtabmap"))
{
UWARN("Version in the config file \"%s\" is more recent (\"%s\") than "
"current RTAB-Map version used (\"%s\"). The config file will be upgraded "
"to new version.",
path.toStdString().c_str(),
settings.value("Version", "").toString().toStdString().c_str(),
RTABMAP_VERSION);
}
else
{
UERROR("Version in the config file \"%s\" is more recent (\"%s\") than "
"current RTAB-Map version used (\"%s\"). New parameters (if there are some) will "
"be ignored.",
path.toStdString().c_str(),
settings.value("Version", "").toString().toStdString().c_str(),
RTABMAP_VERSION);
}
}
}
QStringList keys = settings.allKeys();
// Get profile
const rtabmap::ParametersMap & parameters = Parameters::getDefaultParameters();
@@ -1304,6 +1333,9 @@ void PreferencesDialog::writeCoreSettings(const QString & filePath)
QSettings settings(path, QSettings::IniFormat);
settings.beginGroup("Core");
// save current RTAB-Map version
settings.setValue("Version", QString(RTABMAP_VERSION));
const rtabmap::ParametersMap & parameters = Parameters::getDefaultParameters();
for(rtabmap::ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
tools/ConsoleApp/main.cpp
+2 -1
View File
@@ -370,9 +370,10 @@ int main(int argc, char * argv[])
// Create tasks : memory is deleted
Rtabmap rtabmap;
// Disable statistics (we don't need them)
pm.insert(ParametersPair(Parameters::kRtabmapPublishStats(), uBool2Str(false)));
pm.insert(ParametersPair(Parameters::kRtabmapPublishStats(), "false"));
// use default working directory
pm.insert(ParametersPair(Parameters::kRtabmapWorkingDirectory(), Parameters::defaultRtabmapWorkingDirectory()));
pm.insert(ParametersPair(Parameters::kRGBDEnabled(), "false"));
rtabmap.init(pm);
rtabmap.setTimeThreshold(timeThreshold); // in ms