-disabled dynamic point classification for better robustness
-catches error in bundle adjustment thread
-when not enough points to estimate pose, update using previous pose
-tweaked new point generation error thresholds
-tweaked point registration frequency
-various exceptions removed to avoid crash

…e estimation.

Changed pose results to output in CSV.
Re-added error capping for map point generation to avoid inaccurate map points messing up pose estimation.

…e of motions