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/OdometryThread.cpp

@@ -74,6 +74,11 @@ void OdometryThread::handleEvent(UEvent * event)
 	}
 }
 
+void OdometryThread::mainLoopBegin()
+{
+	ULogger::registerCurrentThread("Odometry");
+}
+
 void OdometryThread::mainLoopKill()
 {
 	_dataAdded.release();