Various QoL (refactored RTABMAP_VERSION_COMPARE) (#1695)

CMakeLists.txt

@@ -25,6 +25,14 @@ SET(RTABMAP_MINOR_VERSION 23)
 SET(RTABMAP_PATCH_VERSION 5)
 SET(RTABMAP_VERSION
   ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
+
+# Make sure we have valid version so that RTABMAP_VERSION_COMPARE logic in Version.h works
+IF(RTABMAP_MINOR_VERSION GREATER 99)
+MESSAGE(FATAL_ERROR "RTABMAP_MINOR_VERSION must be < 100, bump major version and restart minor to 0!")
+ENDIF()
+IF(RTABMAP_PATCH_VERSION GREATER 99)
+MESSAGE(FATAL_ERROR "RTABMAP_PATCH_VERSION must be < 100, bump minor version and restart patch to 0!")
+ENDIF()
   
 SET(PROJECT_VERSION "${RTABMAP_VERSION}")
 

Version.h.in

@@ -35,7 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #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@ || (major==@PROJECT_VERSION_MAJOR@ && minor>=@PROJECT_VERSION_MINOR@) || (major==@PROJECT_VERSION_MAJOR@ && minor==@PROJECT_VERSION_MINOR@ && patch >=@PROJECT_VERSION_PATCH@))
+#define RTABMAP_VERSION_COMPARE(OP, MAJOR, MINOR, PATCH) (RTABMAP_VERSION_MAJOR*10000+RTABMAP_VERSION_MINOR*100+RTABMAP_VERSION_PATCH OP MAJOR*10000+MINOR*100+PATCH)
 
 @NONFREE@#define RTABMAP_NONFREE
 @TORO@#define RTABMAP_TORO

corelib/src/Parameters.cpp

@@ -1233,13 +1233,13 @@ void readINIImpl(const CSimpleIniA & ini, const std::string & configFilePath, Pa
 				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(RTABMAP_VERSION_COMPARE(<, std::atoi(version[0].c_str()), std::atoi(version[1].c_str()), std::atoi(version[2].c_str())))
 					{
 						if(configFilePath.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.",
+								   "current RTAB-Map version used (\"%s\"). The config file will be downgraded "
+								   "to current RTAB-Map version if saved.",
 								   configFilePath.c_str(),
 								   (*iter).second,
 								   RTABMAP_VERSION);

guilib/include/rtabmap/gui/CloudViewer.h

@@ -231,7 +231,8 @@ public:
 				const Transform & to,
 				const QColor & color,
 				bool arrow = false,
-				bool foreground = false);
+				bool foreground = false,
+				double width = 1.0);
 	void removeLine(const std::string & id);
 	void removeAllLines();
 	const std::set<std::string> & getAddedLines() const {return _lines;}

guilib/src/CloudViewer.cpp

@@ -1732,7 +1732,8 @@ void CloudViewer::addOrUpdateLine(
 			const Transform & to,
 			const QColor & color,
 			bool arrow,
-			bool foreground)
+			bool foreground,
+			double width)
 {
 	if(id.empty())
 	{
@@ -1764,6 +1765,7 @@ void CloudViewer::addOrUpdateLine(
 			_visualizer->addLine(pt2, pt1, c.redF(), c.greenF(), c.blueF(), id, foreground?3:2);
 		}
 		_visualizer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, c.alphaF(), id);
+		_visualizer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_LINE_WIDTH, width, id);
 	}
 }
 

utilite/include/rtabmap/utilite/UStl.h

@@ -591,7 +591,7 @@ inline std::list<std::string> uSplit(const std::string & str, char separator = '
  *      std::list<std::string> v;
  *      v.push_back("Hello");
  *      v.push_back("world!");
- * 	    std::string joined = split(v, " ");
+ * 	    std::string joined = uJoin(v, " ");
  * @endcode
  * The output string is "Hello world!"
  * @param strings a list of strings