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

guilib/src/CMakeLists.txt

@@ -18,6 +18,7 @@ SET(headers_ui
 	../include/${PROJECT_PREFIX}/gui/DataRecorder.h
 	./ExportDialog.h
 	./MapVisibilityWidget.h
+	./GraphViewer.h
 )
 
 SET(uis
@@ -65,6 +66,7 @@ SET(SRC_FILES
 	./DataRecorder.cpp
 	./ExportDialog.cpp
 	./MapVisibilityWidget.cpp
+	./GraphViewer.cpp
 	${moc_srcs} 
 	${moc_uis} 
 	${srcs_qrc}