Added EpipolarGeometry::findFFromCalibratedStereoCameras()

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1971 f169173b-cf89-36c8-b27e-44dbe73f0c83
fixed build error (on EpipolarGeometry)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1972 f169173b-cf89-36c8-b27e-44dbe73f0c83
added EpipolarGeometry::triangulatePoints() (LS and iterative LS)
Added option to see words3d in constraint view

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1974 f169173b-cf89-36c8-b27e-44dbe73f0c83
util3d: added bool segmentFlatObstacles (default false) parameter to segmentObstaclesFromGround() method

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1980 f169173b-cf89-36c8-b27e-44dbe73f0c83
rtabmap: don't publish statistics if process returns false. Also, don't return true when the displacement is too small (when the related parameters are set)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1981 f169173b-cf89-36c8-b27e-44dbe73f0c83
Updated EpipolarGeometry methods
Experimental: added OdometryMono in epipolar geometry test

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1982 f169173b-cf89-36c8-b27e-44dbe73f0c83
gui: ui update

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1985 f169173b-cf89-36c8-b27e-44dbe73f0c83
updated some default parameters mostly related to stereo odometry (flow, stereo, bayes prediction, likelihood tf-idf)


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1995 f169173b-cf89-36c8-b27e-44dbe73f0c83
demo_robot_mapping.launch: fixed "util3d.cpp:3038::rayTrace() Condition (end.x >= 0 && end.x < grid.cols) not met! [end.x=84 grid.cols=84]" fatal error

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1997 f169173b-cf89-36c8-b27e-44dbe73f0c83
DatabaseViewer: set default stereo parameters instead of hard-coded ones

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2002 f169173b-cf89-36c8-b27e-44dbe73f0c83
GUI: export clouds in binary mode by default

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2007 f169173b-cf89-36c8-b27e-44dbe73f0c83
DatabaseViewer: fixed update of constraintView when moving the image sliders.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2049 f169173b-cf89-36c8-b27e-44dbe73f0c83
Odometry: added force2D option
Changed parameter RGBD/ScanMatchingSize to RGBD/PoseScanMatching

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2050 f169173b-cf89-36c8-b27e-44dbe73f0c83
fixed not uncompressed depth2D when restarting rtabmap with a prebuilt map for icp constraints

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2053 f169173b-cf89-36c8-b27e-44dbe73f0c83
updated local loop closure (space) map transform on localization

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2054 f169173b-cf89-36c8-b27e-44dbe73f0c83
OpenNI2: added parameters to control autoWhiteBalance and autoExposure

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2056 f169173b-cf89-36c8-b27e-44dbe73f0c83
log typo

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2057 f169173b-cf89-36c8-b27e-44dbe73f0c83
MainWindow->start detection: fixed error msg on CameraOpenNI2::setExposure when exposure/gain parameters are not available 

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2070 f169173b-cf89-36c8-b27e-44dbe73f0c83
If OpenCV nonfree module is not found, RTAB-Map will still build but with disabled SURF/SIFT options. Default BOW dictionary will be ORB in this case.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2071 f169173b-cf89-36c8-b27e-44dbe73f0c83
VWDictionary: Ignore kdtree strategy when RTAB-Map is not build with OpenCV nonfree module
Updated parameter LccReextract/MaxWords=600

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2072 f169173b-cf89-36c8-b27e-44dbe73f0c83