Kimera-Multi-LCD

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Change the dependency from `opengv` to `opengv_catkin` so that `opengv_catkin` can be built before `Kimera_Multi_LCD` while building `Kimera_Multi`.

RonghaiHe

Solve failure in the automatic download in #3

1

Failure automatic issue was detoured by providing a specific filename in the personal repository (see [https://github.com/LimHyungTae/kimera-multi-vocab](https://github.com/LimHyungTae/kimera-multi-vocab)) It generally works as long as I don't change the repository to be private....

LimHyungTae

Installation of `mit_voc.yaml` is not out-of-the-box

4

As mentioned in https://github.com/MIT-SPARK/Kimera-Multi/issues/18, currently `vocab.zip` file is not automatically installed in the `kimera_multi_lcd` directory, which leads to an error like that: ``` F0817 17:58:18.718714 4103241 LoopClosureDetector.cpp:65] Check failed: f_vocab.good()...

LimHyungTae

I have noticed that the monocular RANSAC (`geometricVerificationNister`) in the `loop_closure_detector.cpp` just judges if the percentage of inliners > threshold (happens in this [line](https://github.com/MIT-SPARK/Kimera-Multi-LCD/blob/e9f73da9213b72c370dc079a86db354e7c0654bb/src/loop_closure_detector.cpp#L348)), \ while the stereo RANSAC (`recoverPose`)...

RonghaiHe