Added Stereo and StereoDense base classes (with Stereo->StereoOpticalFlow and StereoDense->StereoBM) to handle easily stereo parameters. Added stereoEval tool to test Stereo/OpticalFlow=false or true. Added StereoBM parameters. Refactoring of the Preferences dialog (tree view order and some titles)

utilite/include/rtabmap/utilite/UConversion.h

@@ -117,6 +117,12 @@ std::string UTILITE_EXP uNumber2Str(float number);
  */
 std::string UTILITE_EXP uNumber2Str(double number);
 
+/**
+ * Convert a string to an integer.
+ * @param the string
+ * @return the number
+ */
+int UTILITE_EXP uStr2Int(const std::string & str);
 
 /**
  * Convert a string to a float independent of the locale (comma/dot).

utilite/src/UConversion.cpp

@@ -113,6 +113,11 @@ std::string uNumber2Str(double number)
 	return s.str();
 }
 
+int uStr2Int(const std::string & str)
+{
+	return atoi(str.c_str());
+}
+
 float uStr2Float(const std::string & str)
 {
 	float value = 0.0f;