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

utilite/include/rtabmap/utilite/UMath.h

@@ -860,4 +860,10 @@ inline std::vector<float> uHamming(unsigned int L)
 	return w;
 }
 
+template <typename T>
+bool uIsInBounds(const T& value, const T& low, const T& high)
+{
+	return !(value < low) && !(value > high);
+}
+
 #endif // UMATH_H

utilite/include/rtabmap/utilite/UStl.h

@@ -622,4 +622,12 @@ inline int uStrNumCmp(const std::string & a, const std::string & b)
 	return result;
 }
 
+/**
+ * Check if a string contains a specified substring.
+ */
+inline bool uStrContains(const std::string & string, const std::string & substring)
+{
+	return string.find(substring) != std::string::npos;
+}
+
 #endif /* USTL_H */