Feature/uncertainty DO NOT MERGE #2
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Changed when A is used to prevent race condition against local bundle adjustment. Still have a race condition though. If a second global bundle adjustment starts before the first one ends things will currently crash, (this is sort of likely as each global bundle adjustment can take up to 1 min thanks to matrix inversion), not too sure of best approach to solving this currently, will discuss. |
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hack in uncertainty, still largely untested