Emit SLAMGraph message from neighborhood
Less flicker in slam graph visualizer
Add option to show vertex-point connections
Use left camera parameters

This doesn't really matter since the input is already rectified,
but this is technically correct.
Typo fix, reduce level

Not an error, this happens everytime a new keyframe is added.
Emit point connections in neighborhood
Emit data in a useful orientation
Advance ScaViSLAM submodule pointer