-Updated File menu with new actions "New database...", "Open database", "Close database" and "Edit database". Each new session will be automatically saved when closing the database. The "play" action cannot be activated until a new database is created or a previous session database is opened.

-  Memory usage reviewed for the GUI: we don't uncompress data for downloaded nodes from "Download all clouds" action.
- Odometry: added optional argument "initialPose" to reset() method

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1930 f169173b-cf89-36c8-b27e-44dbe73f0c83

guilib/include/rtabmap/gui/MainWindow.h

@@ -72,6 +72,10 @@ class RTABMAPGUI_EXP MainWindow : public QMainWindow, public UEventsHandler
 public:
 	enum State {
 		kIdle,
+		kInitializing,
+		kInitialized,
+		kApplicationClosing,
+		kClosing,
 		kStartingDetection,
 		kDetecting,
 		kPaused,
@@ -108,6 +112,10 @@ protected:
 private slots:
 	void changeState(MainWindow::State state);
 	void beep();
+	void newDatabase();
+	void openDatabase();
+	void closeDatabase();
+	void editDatabase();
 	void startDetection();
 	void pauseDetection();
 	void stopDetection();
@@ -139,7 +147,6 @@ private slots:
 	void takeScreenshot();
 	void updateElapsedTime();
 	void processOdometry(const rtabmap::SensorData & data, int quality, float time, int features, int localMapSize);
-	void applyAllPrefSettings();
 	void applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags);
 	void applyPrefSettings(const rtabmap::ParametersMap & parameters);
 	void processRtabmapEventInit(int status, const QString & info);
@@ -185,7 +192,7 @@ signals:
 
 private:
 	void update3DMapVisibility(bool cloudsShown, bool scansShown);
-	void updateMapCloud(const std::map<int, Transform> & poses, const Transform & pose, const std::multimap<int, Link> & constraints);
+	void updateMapCloud(const std::map<int, Transform> & poses, const Transform & pose, const std::multimap<int, Link> & constraints, bool verboseProgress = false);
 	void createAndAddCloudToMap(int nodeId, const Transform & pose);
 	void createAndAddScanToMap(int nodeId, const Transform & pose);
 	void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords);
@@ -247,6 +254,7 @@ private:
 	int _lastId;
 	bool _processingStatistics;
 	bool _odometryReceived;
+	QString _openedDatabasePath;
 
 	QMap<int, Signature> _cachedSignatures;
 	QMap<int, int> _mapIds;

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -150,7 +150,6 @@ public:
 	double getGridMapOpacity() const;
 
 	QString getWorkingDirectory() const;
-	QString getDatabasePath() const;
 
 	// source panel
 	double getGeneralInputRate() const;
@@ -228,7 +227,6 @@ private slots:
 	void addParameter(const QString & value);
 	void updatePredictionPlot();
 	void updateKpROI();
-	void changeDatabasePath();
 	void changeWorkingDirectory();
 	void changeDictionaryPath();
 	void readSettingsEnd();