Fix undistortion and improve ego-motion initialization
- Use timestamps to extrapolate current ego-motion from previous motion.
- As this extrapolation is generally precise enough, set ego-motion registration as optional.
- Fix undistortion : 2 modes are available, approximated or optimized.
- Major acceleration of Ceres cost functions (~40%).
- Clean
MotionModel.h/.cxx
by removing old unused and deprecated stuff.
Edited by Nicolas Cadart