Added screenshots for ProcessADataSet tutorial.

Updated default parameter "RawDataKept" in database to true.
Fixed a bug of showing rejected loop closure image in GUI when RawDataKept=false and the loop closure id is not set (only highestHypothesisId when the loop is rejected).

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@211 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/include/rtabmap/core/Parameters.h

@@ -141,7 +141,7 @@ class RTABMAP_EXP Parameters
 	// Memory
 	RTABMAP_PARAM(Mem, SimilarityThr, 	       float, 0.20);  // Similarity between the last signature and neighbor
 	RTABMAP_PARAM(Mem, SimilarityOnlyLast,     bool, false);	// Only compare to the last signature in STM, otherwise it compares to all signatures in STM
-	RTABMAP_PARAM(Mem, RawDataKept, 		   bool, false); // Keep raw data
+	RTABMAP_PARAM(Mem, RawDataKept, 		   bool, true); // Keep raw data
 	RTABMAP_PARAM(Mem, MaxStMemSize, 		   unsigned int, 25); // Short-time memory size
 	RTABMAP_PARAM(Mem, CommonSignatureUsed,    bool, true); // A common signature/virtual place is automatically updated with id -1
 	RTABMAP_PARAM(Mem, IncrementalMemory, 	   bool, true);

guilib/src/MainWindow.cpp

@@ -425,6 +425,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 					if(stat.loopClosureId()>0 || highestHypothesisId>0)
 					{
 						int id = stat.loopClosureId()>0?stat.loopClosureId():highestHypothesisId;
+						if(!_imagesMap.contains(id))
+						{
 							QByteArray ba;
 							QBuffer buffer(&ba);
 							buffer.open(QIODevice::WriteOnly);
@@ -433,6 +435,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 						}
 					}
 				}
+			}
 			ULOGGER_DEBUG("");
 			int rejectedHyp = bool(uValue(stat.data(), Statistics::kLoopRejectedHypothesis(), 0.0f));
 			if(highestHypothesisId > 0)
@@ -475,7 +478,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 				{
 					if(lcImg.isNull())
 					{
-						QMap<int, QByteArray>::iterator iter = _imagesMap.find(stat.loopClosureId());
+						int id = stat.loopClosureId()>0?stat.loopClosureId():highestHypothesisId;
+						QMap<int, QByteArray>::iterator iter = _imagesMap.find(id);
 						if(iter != _imagesMap.end())
 						{
 							if(!lcImg.loadFromData(iter.value(), "JPEG"))
@@ -484,10 +488,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 								lcImg = QImage();
 							}
 						}
-						else if(stat.loopClosureImage())
-						{
-							lcImg = Ipl2QImage(stat.loopClosureImage());
-						}
 					}
 
 					if(!lcImg.isNull())