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.

corelib/include/rtabmap/core/Memory.h

@@ -55,6 +55,7 @@ class Statistics;
 class Registration;
 class RegistrationInfo;
 class RegistrationIcp;
+class RegistrationVis;
 class Stereo;
 class OccupancyGrid;
 class MarkerDetector;
@@ -367,6 +368,7 @@ private:
 
 	Registration * _registrationPipeline;
 	RegistrationIcp * _registrationIcpMulti;
+	RegistrationVis * _registrationVis;
 
 	OccupancyGrid * _occupancy;
 

corelib/include/rtabmap/core/Rtabmap.h

@@ -49,6 +49,7 @@ class Memory;
 class BayesFilter;
 class Signature;
 class Optimizer;
+class PythonInterface;
 
 class RTABMAP_EXP Rtabmap
 {
@@ -374,6 +375,10 @@ private:
 	int _pathStuckCount;
 	float _pathStuckDistance;
 
+#ifdef RTABMAP_PYTHON
+	PythonInterface * _python;
+#endif
+
 };
 
 } // namespace rtabmap