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Upgraded trunk version to 0.7.1

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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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45
corelib/src/Rtabmap.cpp
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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;