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/src/ui/mainWindow.ui

@@ -102,7 +102,7 @@
      <x>0</x>
      <y>0</y>
      <width>809</width>
-     <height>21</height>
+     <height>25</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuFile">
@@ -128,6 +128,7 @@
     <addaction name="actionDump_the_prediction_matrix"/>
     <addaction name="actionGenerate_map"/>
     <addaction name="actionGenerate_local_map"/>
+    <addaction name="actionGenerate_TORO_graph_graph"/>
     <addaction name="separator"/>
     <addaction name="actionView_high_res_point_cloud"/>
     <addaction name="actionSave_point_cloud"/>
@@ -620,6 +621,27 @@
     </layout>
    </widget>
   </widget>
+  <widget class="QDockWidget" name="dockWidget_mapVisibility">
+   <property name="windowTitle">
+    <string>Map visibility</string>
+   </property>
+   <attribute name="dockWidgetArea">
+    <number>8</number>
+   </attribute>
+   <widget class="QWidget" name="dockWidgetContents_8">
+    <layout class="QVBoxLayout" name="verticalLayout_9">
+     <property name="spacing">
+      <number>0</number>
+     </property>
+     <property name="margin">
+      <number>0</number>
+     </property>
+     <item>
+      <widget class="rtabmap::MapVisibilityWidget" name="widget_mapVisibility" native="true"/>
+     </item>
+    </layout>
+   </widget>
+  </widget>
   <action name="actionExit">
    <property name="text">
     <string>Exit</string>
@@ -909,6 +931,11 @@
     <string>Trigger a new map</string>
    </property>
   </action>
+  <action name="actionGenerate_TORO_graph_graph">
+   <property name="text">
+    <string>Generate TORO graph (*.graph)...</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>
@@ -946,6 +973,12 @@
    <header>../include/rtabmap/gui/LoopClosureViewer.h</header>
    <container>1</container>
   </customwidget>
+  <customwidget>
+   <class>rtabmap::MapVisibilityWidget</class>
+   <extends>QWidget</extends>
+   <header>MapVisibilityWidget.h</header>
+   <container>1</container>
+  </customwidget>
  </customwidgets>
  <resources>
   <include location="../GuiLib.qrc"/>