-Refactored HypVerification classes (added verification by signatures' similarity), there is no more complicated rejectedHypReason, now it's only true if valide or false if verification fails...

git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@86 f169173b-cf89-36c8-b27e-44dbe73f0c83

app/src/main.cpp

@@ -49,6 +49,8 @@ int main(int argc, char* argv[])
 	/* Start thread's task */
 	mainWindow->showNormal();
 
+	rtabmap->start();
+
 	// Now wait for application to finish
 	app->connect( app, SIGNAL( lastWindowClosed() ),
 				app, SLOT( quit() ) );