GUI: Optimized odometry display

GUI: moved alpha parameter into ImageView object

guilib/include/rtabmap/gui/ImageView.h

@@ -57,6 +57,7 @@ public:
 	bool isImageDepthShown() const;
 	bool isFeaturesShown() const;
 	bool isLinesShown() const;
+	int getAlpha() const {return _alpha;}
 
 	void setFeaturesShown(bool shown);
 	void setImageShown(bool shown);
@@ -69,6 +70,7 @@ public:
 	void setImageDepth(const QImage & image);
 	void setFeatureColor(int id, const QColor & color);
 	void setFeaturesColor(const QColor & color);
+	void setAlpha(int alpha);
 
 	const QMultiMap<int, rtabmap::KeypointItem *> & getFeatures() const {return _features;}
 
@@ -92,6 +94,7 @@ private:
 	int _zoom;
 	int _minZoom;
 	QString _savedFileName;
+	int _alpha;
 
 	QMenu * _menu;
 	QAction * _showImage;
@@ -99,6 +102,7 @@ private:
 	QAction * _showFeatures;
 	QAction * _showLines;
 	QAction * _saveImage;
+	QAction * _setAlpha;
 
 	QMultiMap<int, rtabmap::KeypointItem *> _features;
 	QGraphicsPixmapItem * _image;

guilib/include/rtabmap/gui/MainWindow.h

@@ -264,6 +264,8 @@ private:
 	bool _odometryReceived;
 	QString _openedDatabasePath;
 	bool _emptyNewDatabase;
+	bool _odomImageShow;
+	bool _odomImageDepthShow;
 
 	QMap<int, Signature> _cachedSignatures;
 	std::map<int, Transform> _currentPosesMap; // <nodeId, pose>

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -116,11 +116,9 @@ public:
 	int getGeneralLoggerType() const;
 	bool getGeneralLoggerPrintTime() const;
 	bool isVerticalLayoutUsed() const;
-	bool isImageFlipped() const;
 	bool imageRejectedShown() const;
 	bool imageHighestHypShown() const;
 	bool beepOnPause() const;
-	int getKeypointsOpacity() const;
 	int getOdomQualityWarnThr() const;
 	bool isPosteriorGraphView() const;