Refactored Odometry class:

-new odometry parameters
-new Optical flow strategy
-Stereo data support 
Refactored SensorData class to support stereo images
Updated default parameters (mostly odometry ones)
util3d: new methods to handle/reconstruct 3D clouds from disparity image / stereo images
PreferencesDialog: added Odometry/BOW and Odometry/OpticalFLow panels.
DatabaseViewer: fixed a crash when database is empty. Added cloud reconstruction of stereo images if saved in database
Camera: added 1 second delay to avoid dark images at the starting


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1849 f169173b-cf89-36c8-b27e-44dbe73f0c83

guilib/src/OdometryViewer.cpp

@@ -91,7 +91,7 @@ void OdometryViewer::processData()
 	}
 	dataMutex_.unlock();
 
-	if(!data.image().empty() && !data.depth().empty() && data.depthFx()>0.0f && data.depthFy()>0.0f && this->isVisible())
+	if(!data.image().empty() && !data.depth().empty() && data.fx()>0.0f && data.fy()>0.0f && this->isVisible())
 	{
 		UDEBUG("New pose = %s, quality=%d", data.pose().prettyPrint().c_str(), quality);
 
@@ -101,8 +101,8 @@ void OdometryViewer::processData()
 		cloud = util3d::cloudFromDepthRGB(
 				data.image(),
 				data.depth(),
-				data.depthCx(), data.depthCy(),
-			    data.depthFx(), data.depthFy(),
+				data.cx(), data.cy(),
+			    data.fx(), data.fy(),
 			    decimation_);
 
 		if(voxelSize_ > 0.0f)