Added rtabmap-info console tool

corelib/include/rtabmap/core/Link.h

@@ -54,6 +54,8 @@ public:
 		kAllWithLandmarks = 98,
 		kAllWithoutLandmarks = 99,
 		kUndef = 99};
+	static std::string typeName(Type type);
+
 	Link();
 	Link(int from,
 			int to,
@@ -68,6 +70,7 @@ public:
 	int to() const {return to_;}
 	const Transform & transform() const {return transform_;}
 	Type type() const {return type_;}
+	std::string typeName() const {return typeName(type_);}
 	const cv::Mat & infMatrix() const {return infMatrix_;}
 	double rotVariance(bool minimum = true) const;
 	double transVariance(bool minimum = true) const;

corelib/src/Link.cpp

@@ -33,6 +33,31 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 namespace rtabmap {
 
+std::string Link::typeName(Type type)
+{
+	if(type == Link::kNeighbor)
+		return "Neighbor";
+	if(type == Link::kGlobalClosure)
+		return "GlobalClosure";
+	if(type == Link::kLocalSpaceClosure)
+		return "LocalSpaceClosure";
+	if(type == Link::kLocalTimeClosure)
+		return "LocalTimeClosure";
+	if(type == Link::kUserClosure)
+		return "UserClosure";
+	if(type == Link::kVirtualClosure)
+		return "VirtualClosure";
+	if(type == Link::kNeighborMerged)
+		return "NeighborMerged";
+	if(type == Link::kPosePrior)
+		return "PosePrior";
+	if(type == Link::kLandmark)
+		return "Landmark";
+	if(type == Link::kGravity)
+		return "Gravity";
+	return "Undefined";
+}
+
 Link::Link() :
 	from_(0),
 	to_(0),