The BA optimization in Odom is not functioning.

[azulejosss]

I set _bundleAdjustment in RegistrationVis.cpp to true, but still the code for BA in Optimizer::create did not execute.

During debugging, I found that both
fromSignature.sensorData().stereoCameraModels() and fromSignature.sensorData().cameraModels() were empty.

I'm currently using the F2M mode. May I ask if in this mode, it's not possible to open the BA in the odom?

[matlabbe]

BA in RegistrationVis would be disabled if OdometryF2M has already BA enabled (to avoid doing it two times).

rtabmap/corelib/src/odometry/OdometryF2M.cpp

Lines 117 to 118 in e23c38f

	// disable bundle in RegistrationVis as we do it already here
	uInsert(bundleParameters, ParametersPair(Parameters::kVisBundleAdjustment(), "0"));