New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)

New parameter: RGBD/ToroIterations=100
Rtabmap: added getGraph() method to get TORO poses/link constraints
Fixed ICP correspondences ratio over 1
CloudViewer: added frustum culling and camera view up z lock in render(), moving camera using arrow keys, Menu options: Camera far plane clipping, background color
DatabaseViewer: added 3D Map view and Graph view
MainWindow: Moved main widget (loop closure image status) to a dock widget, added Graph view.


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1075 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/include/rtabmap/core/RtabmapThread.h

@@ -59,6 +59,9 @@ public:
 		kStateCleanDataBuffer,
 		kStatePublishingMap,
 		kStatePublishingMapFull,
+		kStatePublishingGraph,
+		kStatePublishingGraphFull,
+		Graph,
 		kStateTriggeringMap
 	};
 
@@ -80,6 +83,7 @@ private:
 	void pushNewState(State newState, const ParametersMap & parameters = ParametersMap());
 	void setDataBufferSize(int size);
 	void publishMap(bool optimized, bool full) const;
+	void publishGraph(bool optimized, bool full) const;
 
 private:
 	UMutex _stateMutex;