-Updated CameraModel and StereoCameraModel so that a stereo camera model can be initialization from know intrinsics and extrinsics

-CreateSimpleCalibrationDialog updated to create mono/stereo calibration files with advanced option (setting intrinsics of each camera + extrinsics between them). Rectification R and new camera P matrices are then automatically computed.
-Added GeodeticCoords class for convience conversion between GPS values (latitude/longitude/altitude) to local coordinate (ENU).
-Added support of Malaga Urban and St Lucia ground truths.
-CameraImages: added option to debayer images. Timestamps file: added support of "sec millisec" format.
-Added UException class: exceptions are sent instead of exiting the application on UASSERT or UFATAL.

guilib/include/rtabmap/gui/CalibrationDialog.h

@@ -73,6 +73,7 @@ private slots:
 	void restart();
 	void calibrate();
 	bool save();
+	void unlock();
 
 protected:
 	virtual void closeEvent(QCloseEvent* event);

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -61,6 +61,7 @@ class Signature;
 class LoopClosureViewer;
 class Camera;
 class CalibrationDialog;
+class CreateSimpleCalibrationDialog;
 
 class RTABMAPGUI_EXP PreferencesDialog : public QDialog
 {
@@ -125,7 +126,7 @@ public:
 	void saveCustomConfig(const QString & section, const QString & key, const QString & value);
 	QString loadCustomConfig(const QString & section, const QString & key);
 
-	const rtabmap::ParametersMap & getAllParameters() const;
+	rtabmap::ParametersMap getAllParameters() const;
 
 	//General panel
 	int getGeneralLoggerLevel() const;
@@ -330,6 +331,7 @@ private:
 
 	//calibration
 	CalibrationDialog * _calibrationDialog;
+	CreateSimpleCalibrationDialog * _createCalibrationDialog;
 
 	QVector<QCheckBox*> _3dRenderingShowClouds;
 	QVector<QDoubleSpinBox*> _3dRenderingVoxelSize;