Tracking error regression

[AndreiBarsan]

After running the experiments and while working on the improved viz, I seem to have introduced a tracking bug causing drift in the overall fused reconstruction. While the results can be visualized, the final 3D car positions are not quite right.

This did not occur with the old "dump" depth-only-camera-pov composited rendering code. I should look into this after working on the paper writeup.