Refactored OdometryBOW class to handle binary descriptors too (removed OdometryBin).

Odometry: added "local map history" option to increase precision
Added new Nearest neighbor options (LSH, brute Force, GPU brute Force)
Added FREAK/ORB features
Increased version to 0.6.5

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1431 f169173b-cf89-36c8-b27e-44dbe73f0c83

guilib/include/rtabmap/gui/OdometryViewer.h

@@ -37,6 +37,7 @@ private:
 	UMutex dataMutex_;
 	std::list<rtabmap::Image> data_;
 	int dataQuality_;
+	Transform lastOdomPose_;
 	UTimer timer_;
 	int maxClouds_;
 	float voxelSize_;

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -82,12 +82,6 @@ public:
 		kSrcOpenNI2
 	};
 
-	enum OdomType {
-		kOdomBIN,
-		kOdomBOW,
-		kOdomICP
-	};
-
 public:
 	PreferencesDialog(QWidget * parent = 0);
 	virtual ~PreferencesDialog();
@@ -148,7 +142,6 @@ public:
 	bool isSourceImageUsed() const;
 	bool isSourceDatabaseUsed() const;
 	bool isSourceOpenniUsed() const;
-	OdomType getOdometryType() const;
 	int getSourceImageType() const;
 	QString getSourceImageTypeStr() const;
 	int getSourceWidth() const;
@@ -259,7 +252,7 @@ private:
 	void addParameters(const QGroupBox * box);
 	QList<QGroupBox*> getGroupBoxes();
 	void readSettingsBegin();
-	void testOdometry(OdomType type);
+	void testOdometry(int type);
 
 protected:
 	rtabmap::ParametersMap _parameters;