added weighting to rgbd odometry
added weighting to rgbd odometry

opencv/opencv,opencv/opencv,apavlenko/opencv,opencv/opencv,apavlenko/opencv,opencv/opencv,opencv/opencv,opencv/opencv,opencv/opencv,apavlenko/opencv,opencv/opencv,opencv/opencv,apavlenko/opencv,apavlenko/opencv,apavlenko/opencv,opencv/opencv