Added "Test" button in the Source panel in Preferences to test alone the RGB-D camera.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1810 f169173b-cf89-36c8-b27e-44dbe73f0c83
Export dialog keeps last config. Updated "clear the cache" to remove all visible images/trajectory/background color.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1811 f169173b-cf89-36c8-b27e-44dbe73f0c83
New parameter: Rtabmap/StartNewMapOnLoopClosure, when activated and creating a new map, the nodes of the new map will be ignored until a loop closure is found.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1812 f169173b-cf89-36c8-b27e-44dbe73f0c83
Added Map color overlay on 3D cloud (press key '2' on keyboard)
Fixed loading all node ids from database, ignoring children

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1813 f169173b-cf89-36c8-b27e-44dbe73f0c83
Upgraded trunk version to 0.7.1
Added version in ini config file
Fixed rtabmap-console for loop closure detection-only

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1823 f169173b-cf89-36c8-b27e-44dbe73f0c83
Found a workaround for Issue 5 to avoid segmentation faults. The data included in the created window are cleared, but the window itself is not destroyed, only when its parent is deleted -> here the MainWindow. It seems that child CloudViewer windows don't crash when deleted on application exit.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1826 f169173b-cf89-36c8-b27e-44dbe73f0c83
Fixed missing visual words when parameter Mem/InitWMWithAllNodes is set

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1828 f169173b-cf89-36c8-b27e-44dbe73f0c83
Changed WIN32 to _WIN32 to handle some 64bits systems where WIN32 is not defined (_WIN32 should be defined both for 32bits and 64bits systems: http://msdn.microsoft.com/en-us/library/b0084kay.aspx).

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1830 f169173b-cf89-36c8-b27e-44dbe73f0c83
Fixed crash when using binary descriptors and maxWords/maxDepth are set
Added BRISK detector

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1839 f169173b-cf89-36c8-b27e-44dbe73f0c83
fixed bow mapping example with RGBD/Enable =false

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1842 f169173b-cf89-36c8-b27e-44dbe73f0c83
Extended KpDetectorStrategy/OdomType/ReextractFeatureType comments for BRISK 

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1844 f169173b-cf89-36c8-b27e-44dbe73f0c83
fixed LccReextract/FeatureType not set in Preferences when loading config.ini.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1845 f169173b-cf89-36c8-b27e-44dbe73f0c83
Refactored OdometryBOW class

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1846 f169173b-cf89-36c8-b27e-44dbe73f0c83
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
databaseViewer: updated default ICP parameters, and optimized view of the constraints while refining

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1853 f169173b-cf89-36c8-b27e-44dbe73f0c83
missing changes for last commit...

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1854 f169173b-cf89-36c8-b27e-44dbe73f0c83
Added parameter Kp/NewWordsComparedTogether for dictionary, always true but when comparing loop closures with Reextracting features, it is set to false to save time.
fixed crash when calling getMap without rtabmap yet initialized.
Parameter "LccReextract/LoopClosureFeatures" is now named "LccReextract/Activated"


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1855 f169173b-cf89-36c8-b27e-44dbe73f0c83
Added setDepthColorSyncEnabled(true) for OpenNI2 devices to synchronize RGB and depth images

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1860 f169173b-cf89-36c8-b27e-44dbe73f0c83
Stereo! The memory can now handle directly stereo images. Disparity can be computed on the fly by keeping left and right images, so for features extraction (and for re-extraction on loop closure), we can compute 3D points precisely. New parameters can be found under "RGB-D Mapping->Stereo". Full image disparity is reconstructed in the GUI (not the core).

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1861 f169173b-cf89-36c8-b27e-44dbe73f0c83
added Rtabmap/StatisticLoggedHeaders to avoid headers in log files

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1869 f169173b-cf89-36c8-b27e-44dbe73f0c83