Upgraded trunk version to 0.7.1

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

CMakeLists.txt

@@ -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

@@ -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_MAJOR @PROJECT_VERSION_MAJOR@
-#define RTABMAP_VERSION_MINOR @PROJECT_VERSION_MINOR@;
+#define RTABMAP_VERSION_MINOR @PROJECT_VERSION_MINOR@
-#define RTABMAP_VERSION_PATCH @PROJECT_VERSION_PATCH@;
+#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

@@ -2390,6 +2390,37 @@ 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;
+			if(key.compare("Version") == 0)
+			{
+				// 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())
@@ -2399,6 +2430,7 @@ void Rtabmap::readParameters(const std::string & configFile, ParametersMap & par
 				parameters.insert(ParametersPair(key, (*iter).second));
 			}
 		}
+	}
 	else
 	{
 		ULOGGER_WARN("Section \"Core\" in %s doesn't exist... "
@@ -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

@@ -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

@@ -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