Pnp multicam refactoring (#902)

* gui: fixed wrongly showing landmark rejected when it was not (because a loop closure was rejected at the same time)

* Added Vis/PnPMaxVariance and RGBD/InvertedReg parameters. Implemented inlier distribution computation for multicam.

* On loc/small displacement: don't remove from odom cache if loop is rejected (maybe first loc)

* Loc: don't prune odom cache on small movement if delayed loc is enabled

* loc/small movement: cleanup bidirectional links

* Cov/PnP: fixed objPt transform to estimate depth

Co-authored-by: mathieu86 <mathieu@robust.ai>

guilib/include/rtabmap/gui/ImageView.h

@@ -63,6 +63,7 @@ public:
 	bool isLinesShown() const;
 	int getAlpha() const {return _alpha;}
 	int getFeaturesSize() const {return _featuresSize;}
+	int getLinesWidth() const {return _linesWidth;}
 	bool isGraphicsViewMode() const;
 	bool isGraphicsViewScaled() const;
 	bool isGraphicsViewScaledToHeight() const;
@@ -101,6 +102,7 @@ public:
 	void setFeaturesColor(QColor color);
 	void setAlpha(int alpha);
 	void setFeaturesSize(int size);
+	void setLinesWidth(int width);
 	void setSceneRect(const QRectF & rect);
 
 	const QMultiMap<int, rtabmap::KeypointItem *> & getFeatures() const {return _features;}
@@ -131,6 +133,7 @@ private:
 	QString _savedFileName;
 	int _alpha;
 	int _featuresSize;
+	int _linesWidth;
 	QColor _defaultBgColor;
 	QColor _defaultFeatureColor;
 	QColor _defaultMatchingFeatureColor;
@@ -148,6 +151,7 @@ private:
 	QAction * _saveImage;
 	QAction * _setAlpha;
 	QAction * _setFeaturesSize;
+	QAction * _setLinesWidth;
 	QAction * _graphicsViewMode;
 	QAction * _graphicsViewScaled;
 	QAction * _graphicsViewScaledToHeight;