Fixed a crash when posterior is empty (on bad signature)

MainWindow: Show in console a neato example with the generated map

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@665 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/src/Rtabmap.cpp

@@ -1021,7 +1021,8 @@ void Rtabmap::process()
 	refWordsCount = signature->getWords().size();
 	refUniqueWordsCount = uUniqueKeys(signature->getWords()).size();
 
-	float vpHypothesis = posterior.at(Memory::kIdVirtual);
+	// Posterior is empty if a bad signature is detected
+	float vpHypothesis = posterior.size()?posterior.at(Memory::kIdVirtual):0.0f;
 
 	// only prepare statistics if required or when there is a loop closure
 	Statistics * stat = 0;

guilib/src/MainWindow.cpp

@@ -1259,6 +1259,9 @@ void MainWindow::generateMap()
 		RtabmapEventCmd * event = new RtabmapEventCmd(RtabmapEventCmd::kCmdGenerateGraph);
 		event->setStr(path.toStdString());
 		this->post(event); // The event is automatically deleted by the EventsManager...
+
+		_ui->dockWidget_console->show();
+		_ui->widget_console->appendMsg(QString("Graph saved... Tip:\nneato -Tpdf \"%1\" -o out.pdf").arg(_graphSavingFileName).arg(_graphSavingFileName));
 	}
 }
 
@@ -1298,6 +1301,9 @@ void MainWindow::generateLocalMap()
 				QString str = path + QString(";") + QString::number(id) + QString(";") + QString::number(margin);
 				event->setStr(str.toStdString());
 				this->post(event); // The event is automatically deleted by the EventsManager...
+
+				_ui->dockWidget_console->show();
+				_ui->widget_console->appendMsg(QString("Graph saved... Tip:\nneato -Tpdf \"%1\" -o out.pdf").arg(_graphSavingFileName).arg(_graphSavingFileName));
 			}
 		}
 	}