Use correct value for box edge dimension
Correct strength computation to match comment

The comment makes more sense than the code and it seems to work better this way.
Some printouts during strength calculation
Check strength in front end

Compute something like connection strength in frontend, don't add very
weak frames.
More logging in frontend
Remove pangolin vars to integrate with ros dynamic reconfigure.
Remove some debug prints
Combine switch/drop decisions
Place recognizer debug logging
Replace placrecognizer geometric solver

Use OpenCV routines, this seems more robust.
Fix placerecognizer query function
Debug routine to draw placerecognizer matches
Relax point distribution requirements on placerecognizer

This gives more matched frames, on my data it does not seem
to reduce the quality of the connections.