Some fixes:

-Memory: Fixed wrongly rejected scan matching transform because of too large correction
-DBViewer: Fixed not shown proximity scans
-DBDriver: Fixed not loaded links' user_data on getAllLinks() method
-MainWindow: Added planning statistics
-DBReader: set a maximum of 10 sec sleep if the map ID has changed

corelib/include/rtabmap/core/DBReader.h

@@ -79,6 +79,7 @@ private:
 	std::set<int> _ids;
 	std::set<int>::iterator _currentId;
 	double _previousStamp;
+	int _previousMapID;
 };
 
 } /* namespace rtabmap */

corelib/include/rtabmap/core/RtabmapEvent.h

@@ -198,24 +198,36 @@ class RtabmapGlobalPathEvent : public UEvent
 {
 public:
 	RtabmapGlobalPathEvent():
-		UEvent(0) {}
-	RtabmapGlobalPathEvent(int goalId, const std::vector<std::pair<int, Transform> > & poses) :
-		UEvent(goalId),
-		_poses(poses) {}
-	RtabmapGlobalPathEvent(int goalId, const std::string & goalLabel, const std::vector<std::pair<int, Transform> > & poses) :
-			UEvent(goalId),
-			_goalLabel(goalLabel),
-			_poses(poses) {}
+		UEvent(0),
+		_planningTime(0.0) {}
+	RtabmapGlobalPathEvent(
+			int goalId,
+			const std::vector<std::pair<int, Transform> > & poses,
+			double planningTime) :
+				UEvent(goalId),
+				_poses(poses),
+				_planningTime(planningTime) {}
+	RtabmapGlobalPathEvent(
+			int goalId,
+			const std::string & goalLabel,
+			const std::vector<std::pair<int, Transform> > & poses,
+			double planningTime) :
+				UEvent(goalId),
+				_goalLabel(goalLabel),
+				_poses(poses),
+				_planningTime(planningTime) {}
 
 	virtual ~RtabmapGlobalPathEvent() {}
 	int getGoal() const {return this->getCode();}
 	const std::string & getGoalLabel() const {return _goalLabel;}
+	double getPlanningTime() const {return _planningTime;}
 	const std::vector<std::pair<int, Transform> > & getPoses() const {return _poses;}
 	virtual std::string getClassName() const {return std::string("RtabmapGlobalPathEvent");}
 
 private:
 	std::string _goalLabel;
 	std::vector<std::pair<int, Transform> > _poses;
+	double _planningTime;
 };
 
 class RtabmapLabelErrorEvent : public UEvent