SuperPoint: return at minimum 2 features or 0 (fixed crash when only one feature). Python: added main python instance from Rtabmap object (to get python instancied once for ROS). MultiSessionWidget: Fixed layout warning. Memory::computeTransform() avoid re-instanciating RegistrationVis when Reg/Strategy=1 for guess transform (to fix PyMatcher re-initialized every time). CMake: added video module to opencv required components.

app/src/main.cpp

@@ -38,10 +38,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <vtkObject.h>
 
-#ifdef RTABMAP_PYTHON
-#include "rtabmap/core/PythonInterface.h"
-#endif
-
 using namespace rtabmap;
 
 int main(int argc, char* argv[])
@@ -54,10 +50,6 @@ int main(int argc, char* argv[])
 	CoInitialize(nullptr);
 #endif
 
-#ifdef RTABMAP_PYTHON
-	PythonInterface python; // Make sure we initialize python in main thread
-#endif
-
 #if VTK_MAJOR_VERSION >= 8
 	vtkObject::GlobalWarningDisplayOff();
 #endif