Making Rtabmap interface easier to use from c++ (Update c++ example usage)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@695 f169173b-cf89-36c8-b27e-44dbe73f0c83

app/src/main.cpp

@@ -37,19 +37,17 @@ int main(int argc, char* argv[])
 	ULOGGER_INFO("Program started...");
 
 	/* Create tasks */
-	Rtabmap * rtabmap = new Rtabmap();
 	QApplication * app = new QApplication(argc, argv);
 	MainWindow * mainWindow = new MainWindow();
 
-	/* Add handlers to the EventsManager */
 	UEventsManager::addHandler(mainWindow);
-	UEventsManager::addHandler(rtabmap);
 
 	/* Start thread's task */
 	mainWindow->showNormal();
 
-	rtabmap->setWorkingDirectory(mainWindow->getWorkingDirectory().toStdString());
+	Rtabmap * rtabmap = new Rtabmap(mainWindow->getWorkingDirectory().toStdString(), false);
-	rtabmap->start();
+	rtabmap->start(); // start it not initialized... will be initialized by event from the gui
+	UEventsManager::addHandler(rtabmap);
 
 	// Now wait for application to finish
 	app->connect( app, SIGNAL( lastWindowClosed() ),

corelib/include/rtabmap/core/Memory.h

@@ -77,8 +77,6 @@ public:
 			double * dbAccessTime = 0) const;
 
 	//getters
-	unsigned int getWorkingMemSize() const {return _workingMem.size();}
-	unsigned int getStMemSize() const {return _stMem.size();};
 	const std::set<int> & getWorkingMem() const {return _workingMem;}
 	const std::set<int> & getStMem() const {return _stMem;}
 	int getMaxStMemSize() const {return _maxStMemSize;}

corelib/include/rtabmap/core/Rtabmap.h

@@ -62,45 +62,40 @@ public:
 
 	enum VhStrategy {kVhNone, kVhEpipolar, kVhUndef};
 
-	static const char * kDefaultIniFileName;
-	static const char * kDefaultIniFilePath;
 	static const char * kDefaultDatabaseName;
 
 public:
 	static std::string getVersion();
-	static std::string getIniFilePath();
 	static void readParameters(const char * configFile, ParametersMap & parameters);
 	static void writeParameters(const char * configFile, const ParametersMap & parameters);
 
 public:
-	Rtabmap();
+	Rtabmap(const std::string & workingDirectory = ".", bool deleteMemory = true);
 	virtual ~Rtabmap();
 
 	void process(const cv::Mat & image); // for convenience
 	void process(const Image & image); // for convenience
-	void dumpData();
-	void generateLocalGraph(const std::string & path, int id, int margin);
 
 	void init(const ParametersMap & param);
 	void init(const char * configFile = 0);
 	void clearBufferedSensors();
 
+	void close();
+
 	const std::string & getWorkingDir() const {return _wDir;}
 	int getLoopClosureId() const;
-	int getReactivatedId() const;
+	int getRetrievedId() const;
-	int getLastSignatureId() const;
+	int getLastLocationId() const;
 	float getLcHypValue() const {return _lastLcHypothesisValue;}
-	std::list<int> getWorkingMem() const;
+	std::list<int> getWM() const; // working memory
-	std::set<int> getStMem() const;
+	std::set<int> getSTM() const; // short-term memory
+	int getWMSize() const; // working memory size
+	int getSTMSize() const; // short-term memory size
 	std::map<int, int> getWeights() const;
 	int getTotalMemSize() const;
 	double getLastProcessTime() const {return _lastProcessTime;};
 
-	void setMaxTimeAllowed(float maxTimeAllowed); // in ms
+	void setTimeThreshold(float maxTimeAllowed); // in ms
-	void setDataBufferSize(int size);
-	void setWorkingDirectory(std::string path);
-
-	void deleteMemory();
 
 	void adjustLikelihood(std::map<int, float> & likelihood) const;
 	std::pair<int, float> selectHypothesis(const std::map<int, float> & posterior,
@@ -122,7 +117,11 @@ private:
 	void releaseAllStrategies();
 	void pushNewState(State newState, const ParametersMap & parameters = ParametersMap());
 	void dumpPrediction() const;
+	void dumpData();
+	void generateLocalGraph(const std::string & path, int id, int margin);
 	void parseParameters(const ParametersMap & parameters);
+	void setWorkingDirectory(std::string path);
+	void setDataBufferSize(int size);
 
 private:
 	// Modifiable parameters

corelib/src/Memory.cpp

@@ -2103,7 +2103,7 @@ Signature * Memory::createSignature(int id, const Image & image, bool keepRawDat
 	std::vector<cv::KeyPoint> keypoints;
 	cv::Mat descriptors;
 
-	int treeSize= this->getWorkingMemSize() + this->getStMemSize();
+	int treeSize= _workingMem.size() + _stMem.size();
 	int nbCommonWords = 0;
 	if(treeSize > 0)
 	{

corelib/src/Rtabmap.cpp

@@ -54,10 +54,9 @@
 
 namespace rtabmap
 {
-const char * Rtabmap::kDefaultIniFileName = "rtabmap.ini";
 const char * Rtabmap::kDefaultDatabaseName = "LTM.db";
 
-Rtabmap::Rtabmap() :
+Rtabmap::Rtabmap(const std::string & workingDirectory, bool deleteMemory) :
 	_publishStats(Parameters::defaultRtabmapPublishStats()),
 	_publishImage(Parameters::defaultRtabmapPublishImage()),
 	_publishPdf(Parameters::defaultRtabmapPublishPdf()),
@@ -82,8 +81,11 @@ Rtabmap::Rtabmap() :
 	_foutFloat(0),
 	_foutInt(0)
 {
-	ULOGGER_DEBUG("Working directory=%s", Parameters::defaultRtabmapWorkingDirectory().c_str());
+	this->setWorkingDirectory(workingDirectory);
-	this->setWorkingDirectory(Parameters::defaultRtabmapWorkingDirectory());
+	if(deleteMemory)
+	{
+		this->resetMemory(true);
+	}
 }
 
 Rtabmap::~Rtabmap() {
@@ -139,6 +141,9 @@ void Rtabmap::setupLogFiles(bool overwrite)
 		attributes = "w";
 	}
 
+	bool addLogFHeader = overwrite || !UFile::exists(_wDir+LOG_F);
+	bool addLogIHeader = overwrite || !UFile::exists(_wDir+LOG_I);
+
 #ifdef _MSC_VER
 	fopen_s(&_foutFloat, (_wDir+LOG_F).toStdString().c_str(), attributes.c_str());
 	fopen_s(&_foutInt, (_wDir+LOG_I).toStdString().c_str(), attributes.c_str());
@@ -147,6 +152,55 @@ void Rtabmap::setupLogFiles(bool overwrite)
 	_foutInt = fopen((_wDir+LOG_I).c_str(), attributes.c_str());
 #endif
 
+	printf("addLogFHeader=%d\n", addLogFHeader?1:0);
+
+	// add header (column identification)
+	if(addLogFHeader && _foutFloat)
+	{
+		fprintf(_foutFloat, "Column headers:\n");
+		fprintf(_foutFloat, " 1-Total iteration time (s)\n");
+		fprintf(_foutFloat, " 2-Memory update time (s)\n");
+		fprintf(_foutFloat, " 3-Retrieval time (s)\n");
+		fprintf(_foutFloat, " 4-Likelihood time (s)\n");
+		fprintf(_foutFloat, " 5-Posterior time (s)\n");
+		fprintf(_foutFloat, " 6-Hypothesis selection time (s)\n");
+		fprintf(_foutFloat, " 7-Transfer time (s)\n");
+		fprintf(_foutFloat, " 8-Statistics creation time (s)\n");
+		fprintf(_foutFloat, " 9-Loop closure hypothesis value\n");
+		fprintf(_foutFloat, " 10-NAN\n");
+		fprintf(_foutFloat, " 11-Maximum likelihood\n");
+		fprintf(_foutFloat, " 12-Sum likelihood\n");
+		fprintf(_foutFloat, " 13-Mean likelihood\n");
+		fprintf(_foutFloat, " 14-Std dev likelihood\n");
+		fprintf(_foutFloat, " 15-Virtual place hypothesis\n");
+		fprintf(_foutFloat, " 16-Join trash time (s)\n");
+		fprintf(_foutFloat, " 17-Weight Update (rehearsal) similarity\n");
+		fprintf(_foutFloat, " 18-Empty trash time (s)\n");
+		fprintf(_foutFloat, " 19-Retrieval database access time (s)\n");
+		fprintf(_foutFloat, " 20-Add loop closure link time (s)\n");
+	}
+	if(addLogIHeader && _foutInt)
+	{
+		fprintf(_foutInt, "Column headers:\n");
+		fprintf(_foutInt, " 1-Loop closure ID\n");
+		fprintf(_foutInt, " 2-Highest loop closure hypothesis\n");
+		fprintf(_foutInt, " 3-Locations transferred\n");
+		fprintf(_foutInt, " 4-NAN\n");
+		fprintf(_foutInt, " 5-Words extracted from the last image\n");
+		fprintf(_foutInt, " 6-Vocabulary size\n");
+		fprintf(_foutInt, " 7-Working memory size\n");
+		fprintf(_foutInt, " 8-Is loop closure hypothesis rejected?\n");
+		fprintf(_foutInt, " 9-NAN\n");
+		fprintf(_foutInt, " 10-NAN\n");
+		fprintf(_foutInt, " 11-Locations retrieved\n");
+		fprintf(_foutInt, " 12-Retrieval location ID\n");
+		fprintf(_foutInt, " 13-Unique words extraced from last image\n");
+		fprintf(_foutInt, " 14-Retrieval ID\n");
+		fprintf(_foutInt, " 15-Non-null likelihood values\n");
+		fprintf(_foutInt, " 16-Weight Update ID\n");
+		fprintf(_foutInt, " 17-Is last location merged through Weight Update?\n");
+	}
+
 	ULOGGER_DEBUG("Log file (int)=%s", (_wDir+LOG_I).c_str());
 	ULOGGER_DEBUG("Log file (float)=%s", (_wDir+LOG_F).c_str());
 }
@@ -220,32 +274,42 @@ void Rtabmap::init(const ParametersMap & parameters)
 	setupLogFiles();
 }
 
-std::string Rtabmap::getIniFilePath()
-{
-	std::string privatePath = UDirectory::homeDir() + "/.rtabmap";
-	if(!UDirectory::exists(privatePath))
-	{
-		UDirectory::makeDir(privatePath);
-	}
-	return (privatePath + "/") + kDefaultIniFileName;
-}
-
 void Rtabmap::init(const char * configFile)
 {
-	std::string config = this->getIniFilePath();
-	if(configFile)
-	{
-		config = configFile;
-	}
-	ULOGGER_DEBUG("file path = %s", config.c_str());
-
 	// fill ctrl struct with values from the configuration file
 	ParametersMap param;// = Parameters::defaultParameters;
-	this->readParameters(config.c_str(), param);
+
+	if(configFile)
+	{
+		ULOGGER_DEBUG("Read parameters from = %s", configFile);
+		this->readParameters(configFile, param);
+	}
 
 	this->init(param);
 }
 
+void Rtabmap::close()
+{
+	UEventsManager::removeHandler(this);
+
+	// Stop the thread first
+	join(true);
+
+	flushStatisticLogs();
+	if(_foutFloat)
+	{
+		fclose(_foutFloat);
+		_foutFloat = 0;
+	}
+	if(_foutInt)
+	{
+		fclose(_foutInt);
+		_foutInt = 0;
+	}
+
+	this->releaseAllStrategies();
+}
+
 void Rtabmap::parseParameters(const ParametersMap & parameters)
 {
 	ULOGGER_DEBUG("");
@@ -360,12 +424,12 @@ int Rtabmap::getLoopClosureId() const
 	return _lcHypothesisId;
 }
 
-int Rtabmap::getReactivatedId() const
+int Rtabmap::getRetrievedId() const
 {
 	return _retrievedId;
 }
 
-int Rtabmap::getLastSignatureId() const
+int Rtabmap::getLastLocationId() const
 {
 	int id = 0;
 	if(_memory && _memory->getLastSignature())
@@ -375,9 +439,8 @@ int Rtabmap::getLastSignatureId() const
 	return id;
 }
 
-std::list<int> Rtabmap::getWorkingMem() const
+std::list<int> Rtabmap::getWM() const
 {
-	ULOGGER_DEBUG("");
 	std::list<int> mem;
 	if(_memory)
 	{
@@ -387,9 +450,17 @@ std::list<int> Rtabmap::getWorkingMem() const
 	return mem;
 }
 
+int Rtabmap::getWMSize() const
+{
+	if(_memory)
+	{
+		return _memory->getWorkingMem().size()-1; // remove virtual place
+	}
+	return 0;
+}
+
 std::map<int, int> Rtabmap::getWeights() const
 {
-	ULOGGER_DEBUG("");
 	std::map<int, int> weights;
 	if(_memory)
 	{
@@ -399,9 +470,8 @@ std::map<int, int> Rtabmap::getWeights() const
 	return weights;
 }
 
-std::set<int> Rtabmap::getStMem() const
+std::set<int> Rtabmap::getSTM() const
 {
-	ULOGGER_DEBUG("");
 	std::set<int> mem;
 	if(_memory)
 	{
@@ -410,6 +480,15 @@ std::set<int> Rtabmap::getStMem() const
 	return mem;
 }
 
+int Rtabmap::getSTMSize() const
+{
+	if(_memory)
+	{
+		return _memory->getStMem().size();
+	}
+	return 0;
+}
+
 int Rtabmap::getTotalMemSize() const
 {
 	ULOGGER_DEBUG("");
@@ -518,15 +597,6 @@ void Rtabmap::mainLoop()
 	}
 }
 
-void Rtabmap::deleteMemory()
-{
-	// Only if rtabmap's thread is not started...
-	if(!this->isRunning())
-	{
-		this->resetMemory(true);
-	}
-}
-
 void Rtabmap::resetMemory(bool dbOverwritten)
 {
 	if(_memory)
@@ -726,7 +796,7 @@ void Rtabmap::process()
 		// If the working memory is empty, don't do the detection. It happens when it
 		// is the first time the detector is started (there needs some images to
 		// fill the short-time memory before a signature is added to the working memory).
-		if(_memory->getWorkingMemSize())
+		if(_memory->getWorkingMem().size())
 		{
 			//============================================================
 			// Likelihood computation
@@ -1058,8 +1128,8 @@ void Rtabmap::process()
 			stat->addStatistic(Statistics::kLoopReactivateId(), _retrievedId);
 			stat->addStatistic(Statistics::kLoopHypothesis_ratio(), hypothesisRatio);
 
-			stat->addStatistic(Statistics::kMemoryWorking_memory_size(), _memory->getWorkingMemSize());
+			stat->addStatistic(Statistics::kMemoryWorking_memory_size(), _memory->getWorkingMem().size());
-			stat->addStatistic(Statistics::kMemoryShort_time_memory_size(), _memory->getStMemSize());
+			stat->addStatistic(Statistics::kMemoryShort_time_memory_size(), _memory->getStMem().size());
 			stat->addStatistic(Statistics::kMemorySignatures_retrieved(), (float)signaturesRetrieved.size());
 			stat->addStatistic(Statistics::kMemoryImages_buffered(), (float)_imageBuffer.size());
 
@@ -1151,9 +1221,9 @@ void Rtabmap::process()
 	ULOGGER_INFO("Total time processing = %fs...", totalTime);
 	timer.start();
 	if((_maxTimeAllowed != 0 && totalTime*1000>_maxTimeAllowed) ||
-		(_maxMemoryAllowed != 0 && _memory->getWorkingMemSize() > _maxMemoryAllowed))
+		(_maxMemoryAllowed != 0 && _memory->getWorkingMem().size() > _maxMemoryAllowed))
 	{
-		ULOGGER_INFO("Removing old signatures because time limit is reached %f>%f or memory is reached %d>%d...", totalTime*1000, _maxTimeAllowed, _memory->getWorkingMemSize(), _maxMemoryAllowed);
+		ULOGGER_INFO("Removing old signatures because time limit is reached %f>%f or memory is reached %d>%d...", totalTime*1000, _maxTimeAllowed, _memory->getWorkingMem().size(), _maxMemoryAllowed);
 		signaturesRemoved = _memory->forget(immunizedLocations);
 	}
 	_lastProcessTime = totalTime;
@@ -1243,7 +1313,7 @@ void Rtabmap::process()
 								0,
 								refWordsCount,
 								dictionarySize,
-								int(_memory->getWorkingMemSize()),
+								int(_memory->getWorkingMem().size()),
 								rejectedHypothesis?1:0,
 								0,
 								0,
@@ -1322,7 +1392,7 @@ void Rtabmap::getImage(Image & image)
 }
 
 // SETTERS
-void Rtabmap::setMaxTimeAllowed(float maxTimeAllowed)
+void Rtabmap::setTimeThreshold(float maxTimeAllowed)
 {
 	//must be positive, 0 mean inf time allowed (no time limit)
 	_maxTimeAllowed = maxTimeAllowed;

examples/main.cpp

@@ -38,64 +38,82 @@ int main(int argc, char * argv[])
 	std::string path = argv[1];
 
 	// rtabmap::Camera is simply a convenience wrapper of OpenCV cv::VideoCapture and cv::imread
-	float imageRate = 1.0f; // 1 Hz
+	rtabmap::CameraImages camera(path);
-	rtabmap::CameraImages camera(path, 1, false, imageRate);
-
 	if(!camera.init())
 	{
 		printf("Camera init failed, using path \"%s\"\n", path.c_str());
 		exit(1);
 	}
 
-	// Create tasks
+	// Create RTAB-Map
 	rtabmap::Rtabmap rtabmap;
 
-	// Where database is saved
+	// Set the time threshold
-	rtabmap.setWorkingDirectory(".");
+	rtabmap.setTimeThreshold(700.0f); // Time threshold : 700 ms, 0 ms means no limit
 
-	// Initialize rtabmap: load database...
+	// To set other parameters, the Parameters interface must be used (Parameters.h).
-	// It will automatically create config.ini
+	// Example here to change the loop closure threshold (default 0.15).
-	// with default parameters if it not exists
+	// Lower the threshold, more loop closures are detected but there is more chance of false positives.
-	rtabmap.init("./config.ini");
+	rtabmap::ParametersMap parameters;
+	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapLoopThr(), "0.11"));
 
-	// For this example, we want to delete the memory at each start.
+	// The time threshold set above is also a parameter, one could have set it the same way:
-	rtabmap.deleteMemory();
+	//   parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapTimeThr(), "700"));
+	// Or SURF hessian treshold:
+	//   parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kSURFHessianThreshold(), "150"));
 
-	rtabmap.setMaxTimeAllowed(700); // Time threshold : 700 ms
+	// Initialize rtabmap: load/create database...
+	rtabmap.init(parameters);
+
+	// Process each image of the directory...
+	printf("\nProcessing images... from directory \"%s\"\n", path.c_str());
 
-	// Start thread's task
 	int countLoopDetected=0;
-
-	printf("\nProcessing images at %f Hz... from directory \"%s\"\n", imageRate, path.c_str());
-
-	int imagesProcessed = 0;
-
-	cv::Mat img = camera.takeImage();
 	int i=0;
+	cv::Mat img = camera.takeImage();
 	while(!img.empty())
 	{
-		++imagesProcessed;
+		// Process image : Main loop of RTAB-Map
-		rtabmap.process(rtabmap::Image(img));
+		rtabmap.process(img);
+
+		// Check if a loop closure is detected and print some info
 		if(rtabmap.getLoopClosureId())
 		{
 			++countLoopDetected;
 		}
-		img = camera.takeImage();
-
 		++i;
-
 		if(rtabmap.getLoopClosureId())
 		{
-			printf(" iteration(%d) ptime(%fs) loop(%d) hyp(%.2f)\n",
+			printf(" #%d ptime(%fs) STM(%d) WM(%d) hyp(%d) value(%.2f) *LOOP %d->%d*\n",
-					i, rtabmap.getLastProcessTime(), rtabmap.getLoopClosureId(), rtabmap.getLcHypValue());
+					i,
+					rtabmap.getLastProcessTime(),
+					rtabmap.getSTM().size(), // short-term memory
+					rtabmap.getWM().size(), // working memory
+					rtabmap.getLoopClosureId(),
+					rtabmap.getLcHypValue(),
+					rtabmap.getLastLocationId(),
+					rtabmap.getLoopClosureId());
 		}
 		else
 		{
-			printf(" iteration(%d) ptime(%fs)\n", i, rtabmap.getLastProcessTime());
+			printf(" #%d ptime(%fs) STM(%d) WM(%d) hyp(%d) value(%.2f)\n",
+					i,
+					rtabmap.getLastProcessTime(),
+					rtabmap.getSTM().size(), // short-term memory
+					rtabmap.getWM().size(), // working memory
+					rtabmap.getRetrievedId(), // highest loop closure hypothesis
+					rtabmap.getLcHypValue());
 		}
+
+		//Get next image
+		img = camera.takeImage();
 	}
 
 	printf("Processing images completed. Loop closures found = %d\n", countLoopDetected);
 
+	// Cleanup... save database and logs
+	printf("Saving Long-Term Memory to \"LTM.db\"...\n");
+	rtabmap.close();
+
 	return 0;
 }

guilib/src/PreferencesDialog.cpp

@@ -548,7 +548,12 @@ QString PreferencesDialog::getWorkingDirectory()
 
 QString PreferencesDialog::getIniFilePath()
 {
-	return Rtabmap::getIniFilePath().c_str();
+	QString privatePath = QDir::homePath() + "/.rtabmap";
+	if(!QDir(privatePath).exists())
+	{
+		QDir::home().mkdir(".rtabmap");
+	}
+	return privatePath + "/rtabmap.ini";
 }
 
 void PreferencesDialog::loadConfigFrom()

tools/ConsoleApp/main.cpp

@@ -57,10 +57,7 @@ void showUsage()
 			"                                     -SURF/HessianThreshold 150\n"
 			"                                   For parameters in table format, add ',' between values :\n"
 			"                                     -Kp/RoiRatios 0,0,0.1,0\n"
-			"                                   Default parameters can be found in ~/.rtabmap/rtabmap.ini\n"
+			"  -default_params                 Show default RTAB-Map's parameters\n"
-			"  -default_params                 Show default RTAB-Map's parameters (WARNING : \n"
-			"                                   parameters from rtabmap.ini (if exists) overwrite the default \n"
-			"                                   ones shown here)\n"
 			"  -debug                          Set Log level to Debug (Default Error)\n"
 			"  -info                           Set Log level to Info (Default Error)\n"
 			"  -warn                           Set Log level to Warning (Default Error)\n"
@@ -375,20 +372,18 @@ int main(int argc, char * argv[])
 
 	std::map<int, int> groundTruth;
 
-	// Create tasks
-	Rtabmap * rtabmap = new Rtabmap();
-	rtabmap->init();
-	rtabmap->setMaxTimeAllowed(timeThreshold); // in ms
-
 	ULogger::setType(ULogger::kTypeConsole);
-	//ULogger::setType(ULogger::kTypeFile, rtabmap->getWorkingDir()+"/LogConsole.txt", false);
+	//ULogger::setType(ULogger::kTypeFile, rtabmap.getWorkingDir()+"/LogConsole.txt", false);
 	//ULogger::setBuffered(true);
 	ULogger::setLevel(logLevel);
 	ULogger::setExitLevel(exitLevel);
 
+	// Create tasks : memory is deleted
+	Rtabmap rtabmap(Parameters::defaultRtabmapWorkingDirectory());
 	// Disable statistics (we don't need them)
 	pm.insert(ParametersPair(Parameters::kRtabmapPublishStats(), uBool2Str(false)));
-	rtabmap->init(pm);
+	rtabmap.init(pm);
+	rtabmap.setTimeThreshold(timeThreshold); // in ms
 
 	printf("Avpd init time = %fs\n", timer.ticks());
 
@@ -409,7 +404,7 @@ int main(int argc, char * argv[])
 	{
 		printf(" Creating the ground truth matrix.\n");
 	}
-	printf(" INFO: All other parameters are taken from the INI file located in \"~/.rtabmap\"\n");
+	printf(" INFO: All other parameters are set to defaults\n");
 	if(pm.size()>1)
 	{
 		printf("   Overwritten parameters :\n");
@@ -418,16 +413,13 @@ int main(int argc, char * argv[])
 			printf("    %s=%s\n",iter->first.c_str(), iter->second.c_str());
 		}
 	}
-	if(rtabmap->getWorkingMem().size() || rtabmap->getStMem().size())
+	if(rtabmap.getWM().size() || rtabmap.getSTM().size())
 	{
-		printf("[Warning] RTAB-Map database is not empty (%s)\n", (rtabmap->getWorkingDir()+Rtabmap::kDefaultDatabaseName).c_str());
+		printf("[Warning] RTAB-Map database is not empty (%s)\n", (rtabmap.getWorkingDir()+Rtabmap::kDefaultDatabaseName).c_str());
 	}
 	printf("\nProcessing images...\n");
 
 	//setup camera
-	ParametersMap allParam;
-	Rtabmap::readParameters(rtabmap->getIniFilePath().c_str(), allParam);
-	pm.insert(allParam.begin(), allParam.end());
 	camera->setFeaturesExtracted(true);
 	camera->parseParameters(pm);
 
@@ -449,10 +441,10 @@ int main(int argc, char * argv[])
 			++imagesProcessed;
 			iterationTimer.start();
 			rtabmapTimer.start();
-			rtabmap->process(img);
+			rtabmap.process(img);
 			double rtabmapTime = rtabmapTimer.elapsed();
-			loopClosureId = rtabmap->getLoopClosureId();
+			loopClosureId = rtabmap.getLoopClosureId();
-			if(rtabmap->getLoopClosureId())
+			if(rtabmap.getLoopClosureId())
 			{
 				++countLoopDetected;
 			}
@@ -464,7 +456,7 @@ int main(int argc, char * argv[])
 						count, countLoopDetected, maxIterationTimeId, maxIterationTime);
 				maxIterationTime = 0.0;
 				maxIterationTimeId = 0;
-				std::map<int, int> wm = rtabmap->getWeights();
+				std::map<int, int> wm = rtabmap.getWeights();
 				printf(" WM(%d)=[", (int)wm.size());
 				for(std::map<int, int>::iterator iter=wm.begin(); iter!=wm.end();++iter)
 				{
@@ -498,15 +490,15 @@ int main(int argc, char * argv[])
 
 			ULogger::flush();
 
-			if(rtabmap->getLoopClosureId())
+			if(rtabmap.getLoopClosureId())
 			{
 				printf(" iteration(%d) loop(%d) hyp(%.2f) time=%fs/%fs *\n",
-						count, rtabmap->getLoopClosureId(), rtabmap->getLcHypValue(), rtabmapTime, iterationTime);
+						count, rtabmap.getLoopClosureId(), rtabmap.getLcHypValue(), rtabmapTime, iterationTime);
 			}
-			else if(rtabmap->getReactivatedId())
+			else if(rtabmap.getRetrievedId())
 			{
 				printf(" iteration(%d) high(%d) hyp(%.2f) time=%fs/%fs\n",
-						count, rtabmap->getReactivatedId(), rtabmap->getLcHypValue(), rtabmapTime, iterationTime);
+						count, rtabmap.getRetrievedId(), rtabmap.getLcHypValue(), rtabmapTime, iterationTime);
 			}
 			else
 			{
@@ -539,9 +531,9 @@ int main(int argc, char * argv[])
 		}
 
 		// Generate the ground truth file
-		printf("Generate ground truth to file %s, size of %d\n", (rtabmap->getWorkingDir()+GENERATED_GT_NAME).c_str(), groundTruthMat.rows);
+		printf("Generate ground truth to file %s, size of %d\n", (rtabmap.getWorkingDir()+GENERATED_GT_NAME).c_str(), groundTruthMat.rows);
 		IplImage img = groundTruthMat;
-		cvSaveImage((rtabmap->getWorkingDir()+GENERATED_GT_NAME).c_str(), &img);
+		cvSaveImage((rtabmap.getWorkingDir()+GENERATED_GT_NAME).c_str(), &img);
 		printf(" Creating ground truth file = %fs\n", timer.ticks());
 	}
 
@@ -551,11 +543,7 @@ int main(int argc, char * argv[])
 		camera = 0 ;
 	}
 
-	if(rtabmap)
+	rtabmap.close();
-	{
-		delete rtabmap;
-		rtabmap = 0;
-	}
 
 	printf(" Cleanup time = %fs\n", timer.ticks());