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/GraphViewer.h

@@ -0,0 +1,55 @@
+/*
+ * GraphViewer.h
+ *
+ *  Created on: 2014-01-24
+ *      Author: mathieu
+ */
+
+#ifndef GRAPHVIEWER_H_
+#define GRAPHVIEWER_H_
+
+#include <QtGui/QGraphicsView>
+#include <QtCore/QMap>
+#include <rtabmap/core/Link.h>
+#include <map>
+
+class QGraphicsItem;
+class QGraphicsPixmapItem;
+
+namespace rtabmap {
+
+class NodeItem;
+class LinkItem;
+
+class GraphViewer : public QGraphicsView {
+public:
+	GraphViewer(QWidget * parent = 0);
+	virtual ~GraphViewer();
+
+	void updateGraph(const std::map<int, Transform> & poses,
+					 const std::multimap<int, Link> & constraints,
+					 const std::map<int, std::vector<unsigned char> > & scans);
+	void clearGraph();
+
+	void setWorkingDirectory(const QString & path) {_workingDirectory = path;}
+
+protected:
+	virtual void wheelEvent ( QWheelEvent * event );
+	virtual void contextMenuEvent(QContextMenuEvent * event);
+
+private:
+	QString _workingDirectory;
+	QColor _nodeColor;
+	QColor _neighborColor;
+	QColor _loopClosureColor;
+	QGraphicsItem * _root;
+	QMap<int, NodeItem*> _nodeItems;
+	QMap<int, LinkItem*> _neighborLinkItems;
+	QMap<int, LinkItem*> _loopLinkItems;
+	float _nodeRadius;
+	float _linkWidth;
+	QGraphicsPixmapItem * _gridMap;
+};
+
+} /* namespace rtabmap */
+#endif /* GRAPHVIEWER_H_ */