Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.

guilib/include/rtabmap/gui/CloudViewer.h

@@ -206,6 +206,8 @@ public:
 	Transform getTargetPose() const;
 
 	void setBackfaceCulling(bool enabled, bool frontfaceCulling);
+	void setRenderingRate(double rate);
+	double getRenderingRate() const;
 
 	void getCameraPosition(
 			float & x, float & y, float & z,
@@ -275,6 +277,7 @@ private:
     QAction * _aSetGridCellCount;
     QAction * _aSetGridCellSize;
     QAction * _aSetBackgroundColor;
+    QAction * _aSetRenderingRate;
     QMenu * _menu;
     std::set<std::string> _graphes;
     std::set<std::string> _coordinates;
@@ -297,6 +300,7 @@ private:
     QColor _currentBgColor;
     bool _backfaceCulling;
     bool _frontfaceCulling;
+    double _renderingRate;
 };
 
 } /* namespace rtabmap */

guilib/include/rtabmap/gui/DatabaseViewer.h

@@ -157,6 +157,10 @@ private:
 
 private:
 	Ui_DatabaseViewer * ui_;
+	CloudViewer * constraintsViewer_;
+	CloudViewer * cloudViewerA_;
+	CloudViewer * cloudViewerB_;
+	CloudViewer * stereoViewer_;
 	QList<int> ids_;
 	std::map<int, int> mapIds_;
 	QMap<int, int> idToIndex_;

guilib/include/rtabmap/gui/LoopClosureViewer.h

@@ -45,7 +45,7 @@ class RTABMAPGUI_EXP LoopClosureViewer : public QWidget {
 	Q_OBJECT
 
 public:
-	LoopClosureViewer(QWidget * parent);
+	LoopClosureViewer(QWidget * parent = 0);
 	virtual ~LoopClosureViewer();
 
 	void setData(const Signature & sA, const Signature & sB); // sB contains loop transform as pose() from sA

guilib/include/rtabmap/gui/MainWindow.h

@@ -52,6 +52,7 @@ class CameraOpenni;
 class CameraFreenect;
 class OdometryThread;
 class CloudViewer;
+class LoopClosureViewer;
 }
 
 class QGraphicsScene;
@@ -307,6 +308,9 @@ private:
 
 	ProgressDialog * _initProgressDialog;
 
+	CloudViewer * _cloudViewer;
+	LoopClosureViewer * _loopClosureViewer;
+
 	QString _graphSavingFileName;
 	QMap<int, QString> _exportPosesFileName;
 	bool _autoScreenCaptureOdomSync;