Added SuperGlue support (Vis/CorNNType=6). Added rtabmap-matcher tool. DBViewer: show matches/inliers when refine also fails. SIFT: make sift always available on OpenCV 4.3.0 (#538). Parameters: changed SPTorch prefix to SuperPoint, replaced Vis/CorCrossCheck by Vis/CorNNType=5.

tools/Matcher/CMakeLists.txt

@@ -0,0 +1,30 @@
+SET(INCLUDE_DIRS
+	${PROJECT_SOURCE_DIR}/corelib/include
+	${PROJECT_SOURCE_DIR}/utilite/include
+	${PROJECT_SOURCE_DIR}/guilib/include
+    ${OpenCV_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
+)
+
+IF(QT4_FOUND)
+    INCLUDE(${QT_USE_FILE})
+ENDIF(QT4_FOUND)
+
+find_package (Python3 COMPONENTS Interpreter Development REQUIRED)
+
+SET(LIBRARIES
+	${OpenCV_LIBRARIES} 
+	${PCL_LIBRARIES}
+	${QT_LIBRARIES} 
+)
+
+add_definitions(${PCL_DEFINITIONS})
+
+INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
+
+ADD_EXECUTABLE(matcher main.cpp)
+TARGET_LINK_LIBRARIES(matcher Python3::Python rtabmap_core rtabmap_utilite rtabmap_gui ${LIBRARIES})
+
+SET_TARGET_PROPERTIES( matcher 
+  PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-matcher)
+