From 34fa01466ae990eedddcfca2756328278e6e3cb6 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Wed, 27 Apr 2011 20:36:00 +0000
Subject: [PATCH] Updated to version 0.2.6
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ConsoleApp :
-Added new parameters (-exit_warn -exit_error -image_width -image_height -v)
-Using buffered logger (introduced in UtiLite 0.2.9)

DatabaseViewer :
- Added action generating local graph around a specified location
- Added action to clean local graph around a specified location
- Moved all generating/cleaning graph methods into RTAB-Map lib Memory class. Now use rtabmap::Memory class instead of rtabmap::DBDriver class directly.

DBDriver class :
-Protected all accesses to db driver with a mutex.

Parameters class :
- Added WorkingDirectory
- Added LocalGraphCleaned
- Added RecentWmRatio
- Removed ChildSaved
- Added getDefaultWorkingDirectory()

Rtabmap class :
- changed getChildCount() to getWeights()
- Closing logged files before cleaning all memories (to keep the logs even if the application crashes when cleaning)
- Cleaning automatically local graphs if LocalGraphCleaned is set, accordingly to neighborhood margin.
- Added log vpHypothesis and timeEmptyingMemoryTrash

RtabmapEvent class :
- Added statistics Timing [CleaningNeighbors][Memory_cleanup][Emptying_memory_trash]
- Added Statistic LoopHypothesis_ratio
-Removed changeWorkingDirectory command (now a parameter)
- Added kCmdGenerateGraph command to generate a graph

CameraDatabase class :
-Using an index iterator instead of an index number.

DBDriverSqlite3 class :
- Added getHighestWeightedSignaturesQuery()

Memory class :
- Fixed to not write in database when the memory is not changed (isMemoryChanged())
- Now recent locations after the last loop closure can't be selected to be transferred and accordingly to
- Removed updateCommonSignature()
- Added getAllSignatureIds() : look also in database (LTM)
- Added generateGraph()
- Added cleanLocalGraph()
- Added cleanLTM()
- Added cleanGraph()
- Added createGraph()

KeypointMemory class :
- Fixed tf-idf when computing likelihood
- Removed updateCommonSignature()
- Removed cached word references to change

Rtabmap-gui :
- Added generateMap action
- Added keypoint's opacity parameter
- Added beepOnPause behavior
- Added ConsoleWidget class : log event are shown in
- Added pause on log level
- Showing rejected loop closures by ratio
- (MacOSX) Fixed bug 1 : It was a problem in PreferencesDialog::showEvent(), where a child dialog was created while the parent dialog was shown. Just removed the link to the parent (set null) instead.

Added Node class :
- Used in Memory class to create/cleanup a graph

Others :
Some optimizations added when inserting at the end of a map or a set…



git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@28 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 src/main.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main.cpp b/src/main.cpp
index b6578d91..11b2156f 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -33,7 +33,7 @@ int main(int argc, char* argv[])
 
 	/* Set logger type */
 	ULogger::setType(ULogger::kTypeConsole);
-	ULogger::setLevel(ULogger::kDebug); // Disable log with level
+	ULogger::setLevel(ULogger::kWarning); // Disable log with level
 
 	ULOGGER_INFO("Program started...");
 
@@ -63,6 +63,7 @@ int main(int argc, char* argv[])
 
 	ULOGGER_INFO("Free memory...");
 
+	delete mainWindow;
 	//Since we can't put the Rtabmap object in the MainWindow class,
 	//we pop up a message box indicating that the rtabmap object
 	// is being deleted (saving data to the database)
@@ -70,14 +71,13 @@ int main(int argc, char* argv[])
 	msg->setEnabled(false);
 	msg->setIconPixmap(QPixmap(":/images/RTAB-Map.ico"));
 	msg->setWindowIcon(QIcon(":/images/RTAB-Map.ico"));
+	msg->show();
 	ObjDeletionThread<Rtabmap> delThread(rtabmap);
 	ObjDeletionHandler handler(delThread.id(), app, SLOT(quit()));
 	UEventsManager::addHandler(&handler);
-	delThread.startDeletion();
-	msg->show();
+	delThread.startDeletion(1); // make sure that app-exec() is called before the deletion of the object
 	app->exec();
 	delete msg;
-	delete mainWindow;
 	delete app;
 
 	ULOGGER_INFO("All done! Closing...");