Merge branch 'master' of https://github.com/introlab/rtabmap into jade-devel

corelib/include/rtabmap/core/Memory.h

@@ -84,6 +84,7 @@ public:
 	bool addLink(int to, int from, const Transform & transform, Link::Type type, float rotVariance, float transVariance);
 	void updateLink(int fromId, int toId, const Transform & transform, float rotVariance, float transVariance);
 	void removeAllVirtualLinks();
+	void removeVirtualLinks(int signatureId);
 	std::map<int, int> getNeighborsId(
 			int signatureId,
 			int maxGraphDepth,

corelib/src/Memory.cpp

@@ -1625,24 +1625,10 @@ void Memory::moveToTrash(Signature * s, bool keepLinkedToGraph, std::list<int> *
 		}
 		else
 		{
-			//make sure that virtual links are removed
-			const std::map<int, Link> & links = s->getLinks();
-			for(std::map<int, Link>::const_iterator iter=links.begin(); iter!=links.end(); ++iter)
-			{
-				if(iter->second.type() == Link::kVirtualClosure)
-				{
-					Signature * sTo = this->_getSignature(iter->first);
-					if(sTo)
-					{
-						sTo->removeLink(s->id());
-					}
-					else
-					{
-						UERROR("Link %d of %d not in WM/STM?!?", iter->first, s->id());
-					}
-				}
-			}
-			s->removeVirtualLinks();
+			// Make sure that virtual links are removed.
+			// It should be called before the signature is
+			// removed from _signatures below.
+			removeVirtualLinks(s->id());
 		}
 
 		this->disableWordsRef(s->id());
@@ -2729,6 +2715,36 @@ void Memory::removeAllVirtualLinks()
 	}
 }
 
+void Memory::removeVirtualLinks(int signatureId)
+{
+	UDEBUG("");
+	Signature * s = this->_getSignature(signatureId);
+	if(s)
+	{
+		const std::map<int, Link> & links = s->getLinks();
+		for(std::map<int, Link>::const_iterator iter=links.begin(); iter!=links.end(); ++iter)
+		{
+			if(iter->second.type() == Link::kVirtualClosure)
+			{
+				Signature * sTo = this->_getSignature(iter->first);
+				if(sTo)
+				{
+					sTo->removeLink(s->id());
+				}
+				else
+				{
+					UERROR("Link %d of %d not in WM/STM?!?", iter->first, s->id());
+				}
+			}
+		}
+		s->removeVirtualLinks();
+	}
+	else
+	{
+		UERROR("Signature %d not in WM/STM?!?", signatureId);
+	}
+}
+
 void Memory::dumpMemory(std::string directory) const
 {
 	UINFO("Dumping memory to directory \"%s\"", directory.c_str());

corelib/src/Rtabmap.cpp

@@ -3131,6 +3131,15 @@ void Rtabmap::updateGoalIndex()
 
 	if( _memory && _path.size())
 	{
+		// remove all previous virtual links
+		for(unsigned int i=0; i<_pathCurrentIndex && i<_path.size(); ++i)
+		{
+			if(_memory->getSignature(_path[i].first))
+			{
+				_memory->removeVirtualLinks(_path[i].first);
+			}
+		}
+
 		// Make sure the next signatures on the path are linked together
 		float distanceSoFar = 0.0f;
 		for(unsigned int i=_pathCurrentIndex;

guilib/src/AboutDialog.cpp

@@ -55,9 +55,9 @@ AboutDialog::AboutDialog(QWidget * parent) :
 	_ui->label_pcl_version->setText(PCL_VERSION_PRETTY);
 	_ui->label_freenect->setText(CameraFreenect::available()?"Yes":"No");
 	_ui->label_openni2->setText(CameraOpenNI2::available()?"Yes":"No");
-	_ui->label_openni2->setText(CameraFreenect2::available()?"Yes":"No");
-	_ui->label_openni2->setText(CameraStereoDC1394::available()?"Yes":"No");
-	_ui->label_openni2->setText(CameraStereoFlyCapture2::available()?"Yes":"No");
+	_ui->label_freenect2->setText(CameraFreenect2::available()?"Yes":"No");
+	_ui->label_dc1394->setText(CameraStereoDC1394::available()?"Yes":"No");
+	_ui->label_flycapture2->setText(CameraStereoFlyCapture2::available()?"Yes":"No");
 
 	_ui->label_g2o->setText(graph::G2OOptimizer::available()?"Yes":"No");
 }

guilib/src/DatabaseViewer.cpp

@@ -2112,6 +2112,7 @@ void DatabaseViewer::updateConstraintView(
 					else
 					{
 						UWARN("Empty 3D words for node %d", link.from());
+						ui_->constraintsViewer->removeCloud("cloud0");
 					}
 					if(cloudTo->size())
 					{
@@ -2120,11 +2121,14 @@ void DatabaseViewer::updateConstraintView(
 					else
 					{
 						UWARN("Empty 3D words for node %d", link.to());
+						ui_->constraintsViewer->removeCloud("cloud1");
 					}
 				}
 				else
 				{
 					UERROR("Not found signature %d or %d in RAM", link.from(), link.to());
+					ui_->constraintsViewer->removeCloud("cloud0");
+					ui_->constraintsViewer->removeCloud("cloud1");
 				}
 			}
 		}

guilib/src/ui/preferencesDialog.ui

@@ -63,9 +63,9 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>-591</y>
-            <width>760</width>
-            <height>1502</height>
+            <y>0</y>
+            <width>755</width>
+            <height>1557</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>3</number>
+                <number>19</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29">
@@ -5007,7 +5007,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                           <string> m</string>
                          </property>
                          <property name="decimals">
-                          <number>2</number>
+                          <number>3</number>
                          </property>
                          <property name="singleStep">
                           <double>0.100000000000000</double>