Version 0.8.8: added "user_data" field in database. Added WifiMapping example. Fixed FATAL error when initializing rtabmap with no database.

examples/RGBDMapping/main.cpp

@@ -65,10 +65,6 @@ int main(int argc, char * argv[])
 		}
 	}
 
-	// GUI stuff, there the handler will receive RtabmapEvent and construct the map
-	QApplication app(argc, argv);
-	MapBuilder mapBuilder;
-
 	// Here is the pipeline that we will use:
 	// CameraOpenni -> "CameraEvent" -> OdometryThread -> "OdometryEvent" -> RtabmapThread -> "RtabmapEvent"
 
@@ -124,6 +120,11 @@ int main(int argc, char * argv[])
 		exit(1);
 	}
 
+	// GUI stuff, there the handler will receive RtabmapEvent and construct the map
+	// We give it the camera so the GUI can pause/resume the camera
+	QApplication app(argc, argv);
+	MapBuilder mapBuilder(&cameraThread);
+
 	// Create an odometry thread to process camera events, it will send OdometryEvent.
 	OdometryThread odomThread(new OdometryBOW());