Increased version to 0.6.2

Memory management tested on RGBD SLAM
Fixed some crashes
New parameter RGBD/LocalLoopDetectionMaxDiffID
New parameter LccIcp2/VoxelSize
Updated parameter LccIcp/Type (added "No ICP" type)
Updated parameter kLccBowMinInliers (inliers minimum reduced to 1)
TORO optimization: The graph root is explicitly defined as the last node added (fixed a TORO crash when a root could not be found)
TORO optimization: only one constraint between neighbors and loop closures
TORO optimization: added initial tree guess
Map correction/Map transform: now only used in localization mode (map correction is always identity on mapping mode)
New statistics: local loop space diff, last loop closure parent and child ids
Database: Fixed empty signatures with no poses loaded
ICP: fixed transform multiplication order
Dump memory: added 3D words
DatabaseViewer: added Export option (added ExportDialog object)
DataRecorder: Option recording in RAM or Hard drive
GUI: added a dock widget (MapVisibilityWidget) to change visibility of nodes in the 3D map
GUI: fixed progress bar step count when generating the map
Menu option: generate TORO graph (full/current map, optimized/not optimized)
Menu option: download map (full/current map, optimized/not optimized)
Preferences: added Reset all settings button
Preferences: A QGroupBox can be a boolean parameter

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1066 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/include/rtabmap/core/RtabmapThread.h

@@ -53,9 +53,12 @@ public:
 		kStateDumpingPrediction,
 		kStateGeneratingGraph,
 		kStateGeneratingLocalGraph,
+		kStateGeneratingTOROGraph,
+		kStateGeneratingTOROGraphFull,
 		kStateDeletingMemory,
 		kStateCleanDataBuffer,
 		kStatePublishingMap,
+		kStatePublishingMapFull,
 		kStateTriggeringMap
 	};
 
@@ -76,7 +79,7 @@ private:
 	void getImage(Image & image);
 	void pushNewState(State newState, const ParametersMap & parameters = ParametersMap());
 	void setDataBufferSize(int size);
-	void publishMap() const;
+	void publishMap(bool optimized, bool full) const;
 
 private:
 	UMutex _stateMutex;