Added CameraStereoImages class to read stereo images from a directory. Added a particle filter to smooth odometry trajectory. Added parameter RGBD/OptimizeEpsilon to limit TORO iterations when error improvement is small. Added Rtabmap/CreateIntermediateNodes parameter: this can be used to keep all odometry poses 'between' nodes used for loop closure detection. Added PnP approach to loop closure constraint estimation. Fixed decimation of stereo images when image size is odd.

corelib/include/rtabmap/core/OdometryInfo.h

@@ -40,7 +40,9 @@ public:
 		variance(-1),
 		features(-1),
 		localMapSize(-1),
-		time(-1),
+		timeEstimation(-1),
+		stamp(0),
+		interval(0),
 		type(-1)
 	{}
 	bool lost;
@@ -49,7 +51,12 @@ public:
 	float variance;
 	int features;
 	int localMapSize;
-	float time;
+	float timeEstimation;
+	float timeParticleFiltering;
+	double stamp;
+	double interval;
+	Transform transform;
+	Transform transformFiltered;
 
 	int type; // 0=BOW, 1=Optical Flow, 2=ICP