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

examples/RGBDMapping/MapBuilder.h

@@ -96,16 +96,16 @@ private slots:
 			if(data.depth().cols == data.image().cols &&
 			   data.depth().rows == data.image().rows &&
 			   !data.depth().empty() &&
-			   data.depthFx() > 0.0f &&
-			   data.depthFy() > 0.0f)
+			   data.fx() > 0.0f &&
+			   data.fy() > 0.0f)
 			{
 				pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = util3d::cloudFromDepthRGB(
 					data.image(),
 					data.depth(),
-					data.depthCx(),
-					data.depthCy(),
-					data.depthFx(),
-					data.depthFy(),
+					data.cx(),
+					data.cy(),
+					data.fx(),
+					data.fy(),
 					2); // decimation // high definition
 				if(cloud->size())
 				{