removed ImagesDbExtractor tool (already inside databaseViewer)

add optional delay to DBReader
added more options to odometryViewer tool


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1264 f169173b-cf89-36c8-b27e-44dbe73f0c83

guilib/include/rtabmap/gui/CloudViewer.h

@@ -106,6 +106,9 @@ public:
 
 	const QMap<std::string, Transform> & getAddedClouds() {return _addedClouds;} //including meshes
 
+	void setCameraTargetLocked();
+	void setCameraTargetFollow();
+
 public slots:
 	void render();
 	void setBackgroundColor(const QColor & color);

guilib/src/CloudViewer.cpp

@@ -536,6 +536,16 @@ void CloudViewer::setCloudPointSize(const std::string & id, int size)
 	}
 }
 
+void CloudViewer::setCameraTargetLocked()
+{
+	_aLockCamera->setChecked(true);
+}
+
+void CloudViewer::setCameraTargetFollow()
+{
+	_aFollowCamera->setChecked(true);
+}
+
 Eigen::Vector3f rotatePointAroundAxe(
 		const Eigen::Vector3f & point,
 		const Eigen::Vector3f & axis,

guilib/src/DatabaseViewer.cpp

@@ -132,14 +132,19 @@ bool DatabaseViewer::openDatabase(const QString & path)
 	UDEBUG("Open database \"%s\"", path.toStdString().c_str());
 	if(QFile::exists(path))
 	{
-		QStringList types;
-		types << "Keypoint" << "Sensorimotor";
-
 		if(memory_)
 		{
 			delete memory_;
 			memory_ = 0;
 			ids_.clear();
+			idToIndex_.clear();
+			neighborLinks_.clear();
+			loopLinks_.clear();
+			graphes_.clear();
+			poses_.clear();
+			links_.clear();
+			scans_.clear();
+			ui_->actionGenerate_TORO_graph_graph->setEnabled(false);
 		}
 
 		std::string driverType = "sqlite3";

guilib/src/PreferencesDialog.cpp

@@ -2658,7 +2658,7 @@ void PreferencesDialog::testOdometry(OdomTest test)
 		window->setMinimumHeight(600);
 		connect( window, SIGNAL(destroyed(QObject*)), this, SLOT(cleanOdometryTest()) );
 
-		OdometryViewer * odomViewer = new OdometryViewer(100, 2, 0.0, window);
+		OdometryViewer * odomViewer = new OdometryViewer(10, 2, 0.0, window);
 
 		QVBoxLayout *layout = new QVBoxLayout();
 		layout->addWidget(odomViewer);