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

guilib/include/rtabmap/gui/CloudViewer.h

@@ -98,6 +98,7 @@ public:
 	bool removeCloud(const std::string & id); //including mesh
 
 	bool getPose(const std::string & id, Transform & pose); //including meshes
+	bool getCloudVisibility(const std::string & id);
 
 	const QMap<std::string, Transform> & getAddedClouds() {return _addedClouds;} //including meshes
 

guilib/include/rtabmap/gui/DataRecorder.h

@@ -25,7 +25,7 @@ class RTABMAPGUI_EXP DataRecorder : public QWidget, public UEventsHandler
 	Q_OBJECT
 public:
 	DataRecorder(QWidget * parent = 0);
-	bool init(const QString & path);
+	bool init(const QString & path, bool recordInRAM = true);
 
 	void close();
 

guilib/include/rtabmap/gui/DatabaseViewer.h

@@ -54,6 +54,7 @@ public:
 private slots:
 	void openDatabase();
 	void generateGraph();
+	void exportDatabase();
 	void generateLocalGraph();
 	void generate3DMap();
 	void sliderAValueChanged(int);

guilib/include/rtabmap/gui/MainWindow.h

@@ -104,6 +104,7 @@ private slots:
 	void printLoopClosureIds();
 	void generateMap();
 	void generateLocalMap();
+	void generateTOROMap();
 	void deleteMemory();
 	void openWorkingDirectory();
 	void updateEditMenu();
@@ -147,6 +148,7 @@ private slots:
 	void viewMeshes();
 	void resetOdometry();
 	void triggerNewMap();
+	void updateNodeVisibility(int, bool);
 
 signals:
 	void statsReceived(const rtabmap::Statistics &);
@@ -231,6 +233,7 @@ private:
 	DetailedProgressDialog * _initProgressDialog;
 
 	QString _graphSavingFileName;
+	QString _toroSavingFileName;
 	QString _autoScreenCaptureFormat;
 
 	QVector<int> _refIds;

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -192,7 +192,8 @@ private slots:
 	void resetApply ( QAbstractButton * button );
 	void resetSettings(int panelNumber);
 	void loadConfigFrom();
-	void saveConfigTo();
+	bool saveConfigTo();
+	void resetConfig();
 	void makeObsoleteGeneralPanel();
 	void makeObsoleteCloudRenderingPanel();
 	void makeObsoleteLoggingPanel();