Added Bundle Adjustment options to OdometryF2M (OdomF2M/BundleAdjustment) and RegistrationVis (Vis/BundleAdjustment). Added logger thread filter. RegistrationVis: Copy back corresponding input word IDs to output words when available. Memory::computeTransform() added option to use already computed corespondences if possible (proximity detection by time uses this). Updated Optimizer::optimizeBA() interface.

corelib/src/VWDictionary.cpp

@@ -1194,6 +1194,10 @@ void VWDictionary::addWord(VisualWord * vw)
 		{
 			_unusedWords.insert(std::pair<int, VisualWord *>(vw->id(), vw));
 		}
+		if(_lastWordId < vw->id())
+		{
+			_lastWordId = vw->id();
+		}
 	}
 }