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/include/rtabmap/gui/MainWindow.h

@@ -116,11 +116,13 @@ private slots:
 	void dumpTheMemory();
 	void dumpThePrediction();
 	void downloadAllClouds();
+	void downloadPoseGraph();
 	void clearTheCache();
 	void saveFigures();
 	void loadFigures();
 	void openPreferences();
 	void selectScreenCaptureFormat(bool checked);
+	void takeScreenshot();
 	void updateElapsedTime();
 	void processOdometry(const rtabmap::Image & data);
 	void applyAllPrefSettings();
@@ -214,7 +216,7 @@ private:
 
 	QMap<int, std::vector<unsigned char> > _imagesMap;
 	QMap<int, std::vector<unsigned char> > _depthsMap;
-	QMap<int, std::vector<unsigned char> > _depths2DMap;
+	std::map<int, std::vector<unsigned char> > _depths2DMap;
 	QMap<int, float> _depthConstantsMap;
 	QMap<int, Transform> _localTransformsMap;
 	std::map<int, Transform> _currentPosesMap;
@@ -234,7 +236,7 @@ private:
 
 	QString _graphSavingFileName;
 	QString _toroSavingFileName;
-	QString _autoScreenCaptureFormat;
+	bool _autoScreenCaptureOdomSync;
 
 	QVector<int> _refIds;
 	QVector<int> _loopClosureIds;