-Updated File menu with new actions "New database...", "Open database", "Close database" and "Edit database". Each new session will be automatically saved when closing the database. The "play" action cannot be activated until a new database is created or a previous session database is opened.

-  Memory usage reviewed for the GUI: we don't uncompress data for downloaded nodes from "Download all clouds" action.
- Odometry: added optional argument "initialPose" to reset() method

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1930 f169173b-cf89-36c8-b27e-44dbe73f0c83

examples/BOWMapping/main.cpp

@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/Rtabmap.h"
 #include "rtabmap/core/Camera.h"
 #include <opencv2/core/core.hpp>
+#include "rtabmap/utilite/UFile.h"
 #include <stdio.h>
 
 void showUsage()
@@ -96,15 +97,21 @@ int main(int argc, char * argv[])
 	// Appearance-based only, disable RGB-D mode
 	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDEnabled(), "false"));
 
+	std::string databasePath = rtabmap::Parameters::defaultRtabmapWorkingDirectory()+rtabmap::Parameters::getDefaultDatabaseName();
 	if(localizationMode)
 	{
 		parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemIncrementalMemory(), "false"));
 		parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpIncrementalDictionary(), "false"));
 		parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemSTMSize(), "1"));
 	}
+	else
+	{
+		// delete previous database if there's one...
+		UFile::erase(databasePath);
+	}
 
 	// Initialize rtabmap: delete/create database...
-	rtabmap.init(parameters, !localizationMode);
+	rtabmap.init(parameters, databasePath);
 
 	// Process each image of the directory...
 	printf("\nProcessing images... from directory \"%s\"\n", path.c_str());