Found a workaround for Issue 5 to avoid segmentation faults. The data included in the created window are cleared, but the window itself is not destroyed, only when its parent is deleted -> here the MainWindow. It seems that child CloudViewer windows don't crash when deleted on application exit.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1826 f169173b-cf89-36c8-b27e-44dbe73f0c83

guilib/include/rtabmap/gui/CloudViewer.h

@@ -155,6 +155,7 @@ public slots:
 	void setCloudVisibility(const std::string & id, bool isVisible);
 	void setCloudOpacity(const std::string & id, double opacity = 1.0);
 	void setCloudPointSize(const std::string & id, int size);
+	virtual void clear() {removeAllClouds(); clearTrajectory();}
 
 protected:
 	virtual void keyReleaseEvent(QKeyEvent * event);

guilib/include/rtabmap/gui/OdometryViewer.h

@@ -46,6 +46,9 @@ public:
 	OdometryViewer(int maxClouds = 10, int decimation = 2, float voxelSize = 0.0f, int qualityWarningThr=0, QWidget * parent = 0);
 	virtual ~OdometryViewer() {}
 
+public slots:
+	virtual void clear();
+
 protected:
 	void handleAction(QAction * a);
 	virtual void handleEvent(UEvent * event);

guilib/src/DatabaseViewer.cpp

@@ -407,8 +407,9 @@ void DatabaseViewer::updateIds()
 		std::map<int, int> nids = memory_->getNeighborsId(memory_->getLastWorkingSignature()->id(), 0, -1, true);
 		memory_->getMetricConstraints(uKeys(nids), poses_, links_, true);
 
-		ui_->spinBox_optimizationsFrom->setRange(1, memory_->getLastWorkingSignature()->id());
+		int first = nids.begin()->first;
-		ui_->spinBox_optimizationsFrom->setValue(memory_->getLastWorkingSignature()->id());
+		ui_->spinBox_optimizationsFrom->setRange(first, memory_->getLastWorkingSignature()->id());
+		ui_->spinBox_optimizationsFrom->setValue(first);
 	}
 
 	ui_->actionGenerate_TORO_graph_graph->setEnabled(false);
@@ -740,8 +741,8 @@ void DatabaseViewer::view3DMap()
 					progressDialog.incrementStep();
 
 					// create a window
-					QWidget * window = new QWidget(this, Qt::Window);
+					QDialog * window = new QDialog(this, Qt::Window);
-					window->setAttribute(Qt::WA_DeleteOnClose);
+					window->setModal(this->isModal());
 					window->setWindowTitle(tr("3D Map"));
 					window->setMinimumWidth(800);
 					window->setMinimumHeight(600);
@@ -752,8 +753,9 @@ void DatabaseViewer::view3DMap()
 					layout->addWidget(viewer);
 					viewer->setCameraLockZ(false);
 					window->setLayout(layout);
+					connect(window, SIGNAL(finished(int)), viewer, SLOT(clear()));
 
-					window->showNormal();
+					window->show();
 
 					for(std::map<int, Transform>::iterator iter = optimizedPoses.begin(); iter!=optimizedPoses.end(); ++iter)
 					{

guilib/src/MainWindow.cpp

@@ -3056,8 +3056,7 @@ void MainWindow::viewScans()
 	std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr> scans;
 	if(getExportedScans(scans))
 	{
-		QWidget * window = new QWidget(this, Qt::Window);
+		QDialog * window = new QDialog(this, Qt::Window);
-		window->setAttribute(Qt::WA_DeleteOnClose);
 		window->setWindowFlags(Qt::Dialog);
 		window->setWindowTitle(tr("Scans (%1 nodes)").arg(scans.size()));
 		window->setMinimumWidth(800);
@@ -3069,6 +3068,7 @@ void MainWindow::viewScans()
 		QVBoxLayout *layout = new QVBoxLayout();
 		layout->addWidget(viewer);
 		window->setLayout(layout);
+		connect(window, SIGNAL(finished(int)), viewer, SLOT(clear()));
 
 		window->show();
 
@@ -3208,8 +3208,7 @@ void MainWindow::viewClouds()
 
 	if(getExportedClouds(clouds, meshes, false))
 	{
-		QWidget * window = new QWidget(this, Qt::Window);
+		QDialog * window = new QDialog(this, Qt::Window);
-		window->setAttribute(Qt::WA_DeleteOnClose);
 		if(meshes.size())
 		{
 			window->setWindowTitle(tr("Meshes (%1 nodes)").arg(meshes.size()));
@@ -3227,6 +3226,7 @@ void MainWindow::viewClouds()
 		QVBoxLayout *layout = new QVBoxLayout();
 		layout->addWidget(viewer);
 		window->setLayout(layout);
+		connect(window, SIGNAL(finished(int)), viewer, SLOT(clear()));
 
 		window->show();
 

guilib/src/OdometryViewer.cpp

@@ -68,6 +68,15 @@ OdometryViewer::OdometryViewer(int maxClouds, int decimation, float voxelSize, i
 	menu()->addAction(_aPause);
 }
 
+void OdometryViewer::clear()
+{
+	dataMutex_.lock();
+	data_.clear();
+	dataMutex_.unlock();
+	clouds_.clear();
+	CloudViewer::clear();
+}
+
 void OdometryViewer::processData()
 {
 	rtabmap::SensorData data;

guilib/src/PreferencesDialog.cpp

@@ -1798,7 +1798,6 @@ void PreferencesDialog::selectSourceRGBD(Src src)
 void PreferencesDialog::openDatabaseViewer()
 {
 	DatabaseViewer * viewer = new DatabaseViewer(this);
-	viewer->setAttribute(Qt::WA_DeleteOnClose, true);
 	viewer->setWindowModality(Qt::WindowModal);
 	if(viewer->openDatabase(_ui->source_database_lineEdit_path->text()))
 	{
@@ -2978,16 +2977,19 @@ void PreferencesDialog::testOdometry(int type)
 
 		_odomThread = new OdometryThread(odometry); // take ownership of odometry
 
-		QWidget * window = new QWidget(this, Qt::Popup);
+		QDialog * window = new QDialog(this);
 		window->setWindowModality(Qt::WindowModal);
-		window->setAttribute(Qt::WA_DeleteOnClose);
-		window->setWindowFlags(Qt::Dialog);
 		window->setWindowTitle(tr("Odometry viewer"));
 		window->setMinimumWidth(800);
 		window->setMinimumHeight(600);
-		connect( window, SIGNAL(destroyed(QObject*)), this, SLOT(cleanOdometryTest()) );
+		connect( window, SIGNAL(finished(int)), this, SLOT(cleanOdometryTest()) );
 
-		OdometryViewer * odomViewer = new OdometryViewer(10, 2, 0.0, this->getOdomQualityWarnThr(), window);
+		OdometryViewer * odomViewer = new OdometryViewer(10,
+				_ui->spinBox_decimation_odom->value(),
+				_ui->doubleSpinBox_voxelSize_odom->value(),
+				this->getOdomQualityWarnThr(),
+				window);
+		connect( window, SIGNAL(finished(int)), odomViewer, SLOT(clear()) );
 
 		odomViewer->setCameraFree();
 		odomViewer->setGridShown(true);