Fixed GUI crash when using rectified RGB only (with odometry). Fixed empty local map when loading a fixed local map for OdometryF2M.

corelib/src/OdometryF2M.cpp

@@ -98,10 +98,11 @@ OdometryF2M::OdometryF2M(const ParametersMap & parameters) :
 		{
 			UERROR("Error initializing the memory for BOW Odometry.");
 		}
-		else
+		else if(memory.getLastWorkingSignature())
 		{
 			// get the graph
-			std::map<int, int> ids = memory.getNeighborsId(memory.getLastSignatureId(), 0, -1);
+			std::map<int, int> ids = memory.getNeighborsId(memory.getLastWorkingSignature()->id(), 0, -1);
+			UDEBUG("ids=%d", (int)ids.size());
 			std::map<int, Transform> poses;
 			std::multimap<int, Link> links;
 			memory.getMetricConstraints(uKeysSet(ids), poses, links, true);
@@ -113,6 +114,8 @@ OdometryF2M::OdometryF2M(const ParametersMap & parameters) :
 				std::map<int, Transform> optimizedPoses = optimizer->optimize(poses.begin()->first, poses, links);
 				delete optimizer;
 
+				UDEBUG("optimizedPoses=%d", (int)optimizedPoses.size());
+
 				std::multimap<int, cv::Point3f> words3D;
 				std::multimap<int, cv::Mat> wordsDescriptors;
 
@@ -124,6 +127,7 @@ OdometryF2M::OdometryF2M(const ParametersMap & parameters) :
 					const Signature * s = memory.getSignature(posesIter->first);
 					if(s)
 					{
+						UDEBUG("%d has %d words", posesIter->first, (int)s->getWords3().size());
 						// Transform 3D points accordingly to pose and add them to local map
 						for(std::multimap<int, cv::Point3f>::const_iterator pointsIter=s->getWords3().begin();
 							pointsIter!=s->getWords3().end();
@@ -148,6 +152,7 @@ OdometryF2M::OdometryF2M(const ParametersMap & parameters) :
 					}
 				}
 				UASSERT(words3D.size() == wordsDescriptors.size());
+				UDEBUG("words3D=%d", (int)words3D.size());
 				map_->setWords3(words3D);
 				map_->setWordsDescriptors(wordsDescriptors);
 			}

corelib/src/Parameters.cpp

@@ -776,7 +776,11 @@ void Parameters::writeINI(const std::string & configFile, const ParametersMap &
 	{
 		std::string key = (*i).first;
 		key = uReplaceChar(key, '/', '\\'); // Ini files use \ by default for separators, so replace the /
-		ini.SetValue("Core", key.c_str(), (*i).second.c_str(), NULL, true);
+		
+		std::string value = (*i).second.c_str();
+		value = uReplaceChar(value, '\\', '/'); // use always slash for values
+
+		ini.SetValue("Core", key.c_str(), value.c_str(), NULL, true);
 	}
 
 	ini.SaveFile(configFile.c_str());

corelib/src/RegistrationVis.cpp

@@ -552,7 +552,7 @@ Transform RegistrationVis::computeTransformationImpl(
 			// create 3D keypoints
 			std::vector<cv::Point3f> kptsFrom3D;
 			std::vector<cv::Point3f> kptsTo3D;
-			if(fromSignature.getWords3().empty() || kptsFrom.size() != fromSignature.getWords3().size())
+			if(fromSignature.getWords3().empty() || (kptsFrom.size() && kptsFrom.size() != fromSignature.getWords3().size()))
 			{
 				if(fromSignature.getWords3().size() && kptsFrom.size() != fromSignature.getWords3().size())
 				{
@@ -890,9 +890,9 @@ Transform RegistrationVis::computeTransformationImpl(
 					// match between all descriptors
 					VWDictionary dictionary(_featureParameters);
 					std::list<int> fromWordIds;
-					for(unsigned int i=0; i<kptsFrom.size(); ++i)
+					for (unsigned int i = 0; i < descriptorsFrom.rows; ++i)
 					{
-						int id = orignalWordsFromIds.size()?orignalWordsFromIds[i]:i;
+						int id = orignalWordsFromIds.size() ? orignalWordsFromIds[i] : i;
 						dictionary.addWord(new VisualWord(id, descriptorsFrom.row(i), 1));
 						fromWordIds.push_back(id);
 					}
@@ -915,7 +915,10 @@ Transform RegistrationVis::computeTransformationImpl(
 					{
 						if(fromWordIdsSet.count(*iter) == 1)
 						{
-							wordsFrom.insert(std::make_pair(*iter, kptsFrom[i]));
+							if (kptsFrom.size())
+							{
+								wordsFrom.insert(std::make_pair(*iter, kptsFrom[i]));
+							}
 							if(kptsFrom3D.size())
 							{
 								words3From.insert(std::make_pair(*iter, kptsFrom3D[i]));

guilib/src/ImageView.cpp

@@ -775,6 +775,8 @@ void ImageView::setImageDepth(const QImage & imageDepth)
 {
 	_imageDepth = QPixmap::fromImage(imageDepth);
 
+	UASSERT(_imageDepth.width() && _imageDepth.height());
+
 	if( _image.width() > 0 &&
 		_image.width() > _imageDepth.width() &&
 		_image.height() > _imageDepth.height() &&

guilib/src/MainWindow.cpp

@@ -1245,7 +1245,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
 			}
 
 			_ui->imageView_odometry->setImage(uCvMat2QImage(odom.data().imageRaw()));
-			if(_ui->imageView_odometry->isImageDepthShown())
+			if(_ui->imageView_odometry->isImageDepthShown() && !odom.data().depthOrRightRaw().empty())
 			{
 				_ui->imageView_odometry->setImageDepth(uCvMat2QImage(odom.data().depthOrRightRaw()));
 			}

guilib/src/PreferencesDialog.cpp

@@ -2189,65 +2189,8 @@ void PreferencesDialog::writeCoreSettings(const QString & filePath) const
 	{
 		path = filePath;
 	}
-	QSettings settings(path, QSettings::IniFormat);
-	settings.beginGroup("Core");
-	settings.remove("");
 
-	// save current RTAB-Map version
+	Parameters::writeINI(path.toStdString(), this->getAllParameters());
-	settings.setValue("Version", QString(RTABMAP_VERSION));
-
-	const rtabmap::ParametersMap & parameters = Parameters::getDefaultParameters();
-	for(rtabmap::ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
-	{
-		QObject * obj = _ui->stackedWidget->findChild<QObject*>((*iter).first.c_str());
-		if(obj)
-		{
-			QSpinBox * spin = qobject_cast<QSpinBox *>(obj);
-			QDoubleSpinBox * doubleSpin = qobject_cast<QDoubleSpinBox *>(obj);
-			QComboBox * combo = qobject_cast<QComboBox *>(obj);
-			QCheckBox * check = qobject_cast<QCheckBox *>(obj);
-			QRadioButton * radio = qobject_cast<QRadioButton *>(obj);
-			QLineEdit * lineEdit = qobject_cast<QLineEdit *>(obj);
-			QGroupBox * groupBox = qobject_cast<QGroupBox *>(obj);
-			if(spin)
-			{
-				settings.setValue(obj->objectName(), spin->value());
-			}
-			else if(doubleSpin)
-			{
-				settings.setValue(obj->objectName(), doubleSpin->value());
-			}
-			else if(combo)
-			{
-				settings.setValue(obj->objectName(), combo->currentIndex());
-			}
-			else if(check)
-			{
-				settings.setValue(obj->objectName(), uBool2Str(check->isChecked()).c_str());
-			}
-			else if(radio)
-			{
-				settings.setValue(obj->objectName(), uBool2Str(radio->isChecked()).c_str());
-			}
-			else if(lineEdit)
-			{
-				settings.setValue(obj->objectName(), lineEdit->text());
-			}
-			else if(groupBox)
-			{
-				settings.setValue(obj->objectName(), uBool2Str(groupBox->isChecked()).c_str());
-			}
-			else
-			{
-				ULOGGER_WARN("QObject called %s can't be cast to a supported widget", (*iter).first.c_str());
-			}
-		}
-		else
-		{
-			ULOGGER_WARN("Can't find the related QObject for parameter %s", (*iter).first.c_str());
-		}
-	}
-	settings.endGroup(); // Core
 }
 
 bool PreferencesDialog::validateForm()