Parameters: Added "Reg/VarianceNormalized". Registration: Transforms are now only normalized in Registration. Added rgbd_dataset tool. MainWindow: odom inliers-only shown option. ExportCloudsDialog: ignoring intermediate nodes for texturing (if they don't have data). DatabaseViewer: "optimized" checkbox enabled in Constraints view for non-neighbor links too.

tools/RgbdDataset/CMakeLists.txt

@@ -0,0 +1,37 @@
+cmake_minimum_required(VERSION 2.8)
+
+# inside rtabmap project (see below for external build)
+SET(RTABMap_INCLUDE_DIRS 
+    ${PROJECT_SOURCE_DIR}/utilite/include
+	${PROJECT_SOURCE_DIR}/corelib/include
+)
+SET(RTABMap_LIBRARIES 
+    rtabmap_core
+	rtabmap_utilite
+)  
+
+if(POLICY CMP0020)
+	cmake_policy(SET CMP0020 OLD)
+endif()
+
+SET(INCLUDE_DIRS
+	${RTABMap_INCLUDE_DIRS}
+    ${OpenCV_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
+)
+
+SET(LIBRARIES
+	${RTABMap_LIBRARIES}
+	${OpenCV_LIBRARIES}
+	${PCL_LIBRARIES}
+)
+
+INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
+
+ADD_EXECUTABLE(rgbd_dataset main.cpp)
+  
+TARGET_LINK_LIBRARIES(rgbd_dataset ${LIBRARIES})
+
+
+SET_TARGET_PROPERTIES( rgbd_dataset 
+    PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-rgbd_dataset)