Fixed QMutex still locked on exit warning. Removing old parameters from ini file on saving. Memory: Removed completely the use of Vis/CorType (only used by F2F odom).

corelib/include/rtabmap/core/Memory.h

@@ -301,7 +301,6 @@ private:
 	bool _useOdometryFeatures;
 	bool _createOccupancyGrid;
 	int _visMaxFeatures;
-	int _visCorType;
 	bool _imagesAlreadyRectified;
 	bool _rectifyOnlyFeatures;
 	bool _covOffDiagonalIgnored;

corelib/src/Memory.cpp

@@ -102,7 +102,6 @@ Memory::Memory(const ParametersMap & parameters) :
 	_useOdometryFeatures(Parameters::defaultMemUseOdomFeatures()),
 	_createOccupancyGrid(Parameters::defaultRGBDCreateOccupancyGrid()),
 	_visMaxFeatures(Parameters::defaultVisMaxFeatures()),
-	_visCorType(Parameters::defaultVisCorType()),
 	_imagesAlreadyRectified(Parameters::defaultRtabmapImagesAlreadyRectified()),
 	_rectifyOnlyFeatures(Parameters::defaultRtabmapRectifyOnlyFeatures()),
 	_covOffDiagonalIgnored(Parameters::defaultMemCovOffDiagIgnored()),
@@ -500,20 +499,10 @@ void Memory::parseParameters(const ParametersMap & parameters)
 	Parameters::parse(params, Parameters::kMemUseOdomFeatures(), _useOdometryFeatures);
 	Parameters::parse(params, Parameters::kRGBDCreateOccupancyGrid(), _createOccupancyGrid);
 	Parameters::parse(params, Parameters::kVisMaxFeatures(), _visMaxFeatures);
-	Parameters::parse(params, Parameters::kVisCorType(), _visCorType);
-	if(_visCorType != 0)
-	{
-		UWARN("%s is not 0 (Features Matching), the only approach supported for loop closure transformation estimation. Setting to 0...",
-				Parameters::kVisCorType().c_str());
-		_visCorType = 0;
-		uInsert(parameters_, ParametersPair(Parameters::kVisCorType(), "0"));
-		uInsert(params, ParametersPair(Parameters::kVisCorType(), "0"));
-	}
 	Parameters::parse(params, Parameters::kRtabmapImagesAlreadyRectified(), _imagesAlreadyRectified);
 	Parameters::parse(params, Parameters::kRtabmapRectifyOnlyFeatures(), _rectifyOnlyFeatures);
 	Parameters::parse(params, Parameters::kMemCovOffDiagIgnored(), _covOffDiagonalIgnored);
 
-
 	UASSERT_MSG(_maxStMemSize >= 0, uFormat("value=%d", _maxStMemSize).c_str());
 	UASSERT_MSG(_similarityThreshold >= 0.0f && _similarityThreshold <= 1.0f, uFormat("value=%f", _similarityThreshold).c_str());
 	UASSERT_MSG(_recentWmRatio >= 0.0f && _recentWmRatio <= 1.0f, uFormat("value=%f", _recentWmRatio).c_str());
@@ -573,6 +562,10 @@ void Memory::parseParameters(const ParametersMap & parameters)
 		_feature2D->parseParameters(params);
 	}
 
+	// Features Matching is the only correspondence approach supported for loop closure transformation estimation.
+	uInsert(parameters_, ParametersPair(Parameters::kVisCorType(), "0"));
+	uInsert(params, ParametersPair(Parameters::kVisCorType(), "0"));
+
 	Registration::Type regStrategy = Registration::kTypeUndef;
 	if((iter=params.find(Parameters::kRegStrategy())) != params.end())
 	{
@@ -2475,13 +2468,13 @@ Transform Memory::computeTransform(
 
 	// make sure we have all data needed
 	// load binary data from database if not in RAM (if image is already here, scan and userData should be or they are null)
-	if((((_reextractLoopClosureFeatures || _visCorType==1) && _registrationPipeline->isImageRequired()) && fromS.sensorData().imageCompressed().empty()) ||
+	if(((_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired()) && fromS.sensorData().imageCompressed().empty()) ||
 	   (_registrationPipeline->isScanRequired() && fromS.sensorData().imageCompressed().empty() && fromS.sensorData().laserScanCompressed().isEmpty()) ||
 	   (_registrationPipeline->isUserDataRequired() && fromS.sensorData().imageCompressed().empty() && fromS.sensorData().userDataCompressed().empty()))
 	{
 		fromS.sensorData() = getNodeData(fromS.id());
 	}
-	if((((_reextractLoopClosureFeatures || _visCorType==1) && _registrationPipeline->isImageRequired()) && toS.sensorData().imageCompressed().empty()) ||
+	if(((_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired()) && toS.sensorData().imageCompressed().empty()) ||
 	   (_registrationPipeline->isScanRequired() && toS.sensorData().imageCompressed().empty() && toS.sensorData().laserScanCompressed().isEmpty()) ||
 	   (_registrationPipeline->isUserDataRequired() && toS.sensorData().imageCompressed().empty() && toS.sensorData().userDataCompressed().empty()))
 	{
@@ -2491,13 +2484,13 @@ Transform Memory::computeTransform(
 	cv::Mat imgBuf, depthBuf, userBuf;
 	LaserScan laserBuf;
 	fromS.sensorData().uncompressData(
-			((_reextractLoopClosureFeatures || _visCorType==1) && _registrationPipeline->isImageRequired())?&imgBuf:0,
-			((_reextractLoopClosureFeatures || _visCorType==1) && _registrationPipeline->isImageRequired())?&depthBuf:0,
+			(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&imgBuf:0,
+			(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&depthBuf:0,
 			_registrationPipeline->isScanRequired()?&laserBuf:0,
 			_registrationPipeline->isUserDataRequired()?&userBuf:0);
 	toS.sensorData().uncompressData(
-			((_reextractLoopClosureFeatures || _visCorType==1) && _registrationPipeline->isImageRequired())?&imgBuf:0,
-			((_reextractLoopClosureFeatures || _visCorType==1) && _registrationPipeline->isImageRequired())?&depthBuf:0,
+			(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&imgBuf:0,
+			(_reextractLoopClosureFeatures && _registrationPipeline->isImageRequired())?&depthBuf:0,
 			_registrationPipeline->isScanRequired()?&laserBuf:0,
 			_registrationPipeline->isUserDataRequired()?&userBuf:0);
 
@@ -2530,7 +2523,7 @@ Transform Memory::computeTransform(
 			tmpTo.setWordsDescriptors(std::multimap<int, cv::Mat>());
 		}
 
-		if(guess.isNull() && (!_registrationPipeline->isImageRequired() || _visCorType==1))
+		if(guess.isNull() && !_registrationPipeline->isImageRequired())
 		{
 			UDEBUG("");
 			// no visual in the pipeline, make visual registration for guess

corelib/src/Parameters.cpp

@@ -1045,17 +1045,43 @@ void Parameters::writeINI(const std::string & configFile, const ParametersMap &
 	// Save current version
 	ini.SetValue("Core", "Version", RTABMAP_VERSION, NULL, true);
 
-	for(ParametersMap::const_iterator i=parameters.begin(); i!=parameters.end(); ++i)
+	for(ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
 	{
-		std::string key = (*i).first;
+		std::string key = iter->first;
 		key = uReplaceChar(key, '/', '\\'); // Ini files use \ by default for separators, so replace the /
 		
-		std::string value = (*i).second.c_str();
+		std::string value = iter->second.c_str();
 		value = uReplaceChar(value, '\\', '/'); // use always slash for values
 
 		ini.SetValue("Core", key.c_str(), value.c_str(), NULL, true);
 	}
 
+	// Delete removed parameters
+	if(parameters.size() == getDefaultParameters().size())
+	{
+		for(std::map<std::string, std::pair<bool, std::string> >::const_iterator iter = removedParameters_.begin();
+			iter!=removedParameters_.end();
+			++iter)
+		{
+			std::string key = iter->first;
+			key = uReplaceChar(key, '/', '\\'); // Ini files use \ by default for separators, so replace the /
+
+			std::string value = ini.GetValue("Core", key.c_str(), "");
+
+			if(ini.Delete("Core", key.c_str(), true))
+			{
+				if(iter->second.first && parameters.find(iter->second.second) != parameters.end())
+				{
+					UWARN("Removed deprecated parameter %s=%s (replaced by %s=%s) from \"%s\".", iter->first.c_str(), value.c_str(), iter->second.second.c_str(), parameters.at(iter->second.second).c_str(), configFile.c_str());
+				}
+				else
+				{
+					UWARN("Removed deprecated parameter %s=%s from \"%s\".", iter->first.c_str(), value.c_str(), configFile.c_str());
+				}
+			}
+		}
+	}
+
 	ini.SaveFile(configFile.c_str());
 }
 

guilib/src/ConsoleWidget.cpp

@@ -60,6 +60,7 @@ ConsoleWidget::ConsoleWidget(QWidget * parent) :
 ConsoleWidget::~ConsoleWidget()
 {
 	delete _ui;
+	_errorMessageMutex.unlock();
 }
 
 bool ConsoleWidget::handleEvent(UEvent * anEvent)

guilib/src/MainWindow.cpp

@@ -4916,10 +4916,10 @@ void MainWindow::startDetection()
 				odomParameters.erase(Parameters::kRtabmapPublishRAMUsage()); // as odometry is in the same process than rtabmap, don't get RAM usage in odometry.
 				int odomStrategy = Parameters::defaultOdomStrategy();
 				Parameters::parse(odomParameters, Parameters::kOdomStrategy(), odomStrategy);
-				if(odomStrategy == 1)
+				if(odomStrategy != 1)
 				{
 					// Only Frame To Frame supports all VisCorType
-					odomParameters.insert(ParametersPair(Parameters::kVisCorType(), _preferencesDialog->getParameter(Parameters::kVisCorType())));
+					odomParameters.erase(Parameters::kVisCorType());
 				}
 				_imuThread = 0;
 				if((_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoImages ||

guilib/src/PreferencesDialog.cpp

@@ -3242,9 +3242,6 @@ rtabmap::ParametersMap PreferencesDialog::getAllParameters() const
 	ParametersMap parameters = _parameters;
 	uInsert(parameters, _modifiedParameters);
 
-	// It will be added manually for odometry
-	parameters.erase(Parameters::kVisCorType());
-
 	return parameters;
 }
 
@@ -5526,10 +5523,10 @@ void PreferencesDialog::testOdometry()
 
 	int odomStrategy = Parameters::defaultOdomStrategy();
 	Parameters::parse(parameters, Parameters::kOdomStrategy(), odomStrategy);
-	if(odomStrategy == 1)
+	if(odomStrategy != 1)
 	{
 		// Only Frame To Frame supports  all VisCorType
-		parameters.insert(ParametersPair(Parameters::kVisCorType(), this->getParameter(Parameters::kVisCorType())));
+		parameters.erase(Parameters::kVisCorType());
 	}
 
 	Odometry * odometry = Odometry::create(parameters);