Generating Graph in the c++ example

Added png of the generated graph in doc

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@707 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/include/rtabmap/core/Rtabmap.h

@@ -96,6 +96,7 @@ public:
 	double getLastProcessTime() const {return _lastProcessTime;};
 
 	void setTimeThreshold(float maxTimeAllowed); // in ms
+	void generateGraph(const std::string & path) const;
 
 	void adjustLikelihood(std::map<int, float> & likelihood) const;
 	std::pair<int, float> selectHypothesis(const std::map<int, float> & posterior,

corelib/src/Rtabmap.cpp

@@ -151,9 +151,6 @@ void Rtabmap::setupLogFiles(bool overwrite)
 	_foutFloat = fopen((_wDir+LOG_F).c_str(), attributes.c_str());
 	_foutInt = fopen((_wDir+LOG_I).c_str(), attributes.c_str());
 #endif
-
-	printf("addLogFHeader=%d\n", addLogFHeader?1:0);
-
 	// add header (column identification)
 	if(addLogFHeader && _foutFloat)
 	{
@@ -597,6 +594,14 @@ void Rtabmap::mainLoop()
 	}
 }
 
+void Rtabmap::generateGraph(const std::string & path) const
+{
+	if(!this->isRunning() && _memory)
+	{
+		_memory->generateGraph(path);
+	}
+}
+
 void Rtabmap::resetMemory(bool dbOverwritten)
 {
 	if(_memory)

examples/main.cpp

@@ -111,6 +111,10 @@ int main(int argc, char * argv[])
 
 	printf("Processing images completed. Loop closures found = %d\n", countLoopDetected);
 
+	// Generate a graph for visualization with Graphiz
+	rtabmap.generateGraph("Graph.dot");
+	printf("Generated graph \"Graph.dot\", viewable with Graphiz using \"neato -Tpdf Graph.dot -o out.pdf\"\n");
+
 	// Cleanup... save database and logs
 	printf("Saving Long-Term Memory to \"LTM.db\"...\n");
 	rtabmap.close();