Moved some common include files to public headers folder

guilib/include/rtabmap/utilite/UImageView.h

@@ -0,0 +1,98 @@
+/*
+ * ImageView.h
+ *
+ *  Created on: 2012-06-20
+ *      Author: mathieu
+ */
+
+#ifndef IMAGEVIEW_H_
+#define IMAGEVIEW_H_
+
+#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
+
+#include <QWidget>
+#include <QtGui/QPainter>
+
+class RTABMAPGUI_EXP UImageView : public QWidget
+{
+	Q_OBJECT;
+public:
+	UImageView(QWidget * parent = 0) : QWidget(parent) {}
+	~UImageView() {}
+	void setBackgroundBrush(const QBrush & brush) {brush_ = brush;}
+
+public slots:
+	void setImage(const QImage & image)
+	{
+		pixmap_ = QPixmap::fromImage(image);
+		this->update();
+	}
+
+private:
+	void computeScaleOffsets(float & scale, float & offsetX, float & offsetY)
+	{
+		scale = 1.0f;
+		offsetX = 0.0f;
+		offsetY = 0.0f;
+
+		if(!pixmap_.isNull())
+		{
+			float w = pixmap_.width();
+			float h = pixmap_.height();
+			float widthRatio = float(this->rect().width()) / w;
+			float heightRatio = float(this->rect().height()) / h;
+
+			if(widthRatio < heightRatio)
+			{
+				scale = widthRatio;
+			}
+			else
+			{
+				scale = heightRatio;
+			}
+
+			w *= scale;
+			h *= scale;
+
+			if(w < this->rect().width())
+			{
+				offsetX = (this->rect().width() - w)/2.0f;
+			}
+			if(h < this->rect().height())
+			{
+				offsetY = (this->rect().height() - h)/2.0f;
+			}
+		}
+	}
+
+protected:
+	virtual void paintEvent(QPaintEvent *event)
+	{
+		QPainter painter(this);
+
+		//Draw background
+		painter.save();
+		painter.setBrush(brush_);
+		painter.drawRect(this->rect());
+		painter.restore();
+
+		if(!pixmap_.isNull())
+		{
+			painter.save();
+			//Scale
+			float ratio, offsetX, offsetY;
+			this->computeScaleOffsets(ratio, offsetX, offsetY);
+			painter.translate(offsetX, offsetY);
+			painter.scale(ratio, ratio);
+			painter.drawPixmap(QPoint(0,0), pixmap_);
+			painter.restore();
+		}
+	}
+
+private:
+	QPixmap pixmap_;
+	QBrush brush_;
+};
+
+
+#endif /* IMAGEVIEW_H_ */