Merging devel to master #28
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…. 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.
…us odometry transform, merged stereo/depth stuff)
… on the estimated y value
…ometry nonholomic motion estimation (using arc around ICR).
…ost (no need to optimize the graph before computing the path)
…te is faster than odometry)
…OW are now using the same methods)
…SensorData is copied
…g the previous cloud
…o with stereo cameras
… camera local transform in Preferences
…(causing a deadlock when killing the camera)
…fixed build with OpenCV3+Cuda
…reo images to video
…folder, removed all asserts on valid caemra model in SensorData
…e check in isValid() method)
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