Added util3d::transformLaserScan(). OdomF2F: filling local scan map field with key frame scane in odom info. DbViewer: Print database parameters in Info view.

corelib/include/rtabmap/core/OdometryInfo.h

@@ -72,6 +72,7 @@ public:
 		output.transformFiltered = transformFiltered;
 		output.transformGroundTruth = transformGroundTruth;
 		output.distanceTravelled = distanceTravelled;
+		output.type = type;
 		return output;
 	}
 

corelib/include/rtabmap/core/util3d_transforms.h

@@ -40,6 +40,10 @@ namespace rtabmap
 namespace util3d
 {
 
+cv::Mat RTABMAP_EXP transformLaserScan(
+		const cv::Mat & laserScan,
+		const Transform & transform);
+
 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP transformPointCloud(
 		const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
 		const Transform & transform);