ignore frames during benchmark which can not be read from disk
added options to control whether the full pose graph or only keyframe pose graph is optimized during online/batch optimization; refactored loop closure validation into mini framework;
removed some unused code
reordered ConstraintProposalValidator loop to retain TrackingResult Statistics and Votes after last validation stage
removed DriftAwareNearestNeighborConstraintSearch
added OdometryConstraintVoter to reject proposals, which are self or consecutive keyframe constraints; added early abort to ConstraintProposalValidator when first voter rejects a proposal;
added graph publishing after every map change
changed constness of RgbdCamera passed to RgbdImage
added better error reporting when UseInitialEstimate is true, but no estimate is provided; added TerminationCriterion if there are too few constraints;
continued implementation of new loop closure validation framework; fixed several bugs;
integrated new loop closure validation framework
removed old loop closure validation code
moved validation framework classes to separate files
added option to respond to keyframe click events
fixed severe bug causing constraint_search_radius to be always 1; updated visualization to allow inspection of the constraint proposal validation between any 2 keyframes
added occlusion testing to residual computation; seems to help;
added more visualization to better inspect loop closures
removed old code
updated benchmark parameters