ar_track_alvar: no (rgb) camera tracking in bundle detection using kinect?

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When running bundledetection (using FindMarkerBundles.cpp) with kinect, the actual tag tracking seems to be based only on the kinect data, as in individual detection (using IndividualMarkers.cpp) the tracking is based on the camera data, and improved by the kinect data.

This can be tested by blocking the kinect ir projector, the tag in the individual case remains detected, although with some jitter. In the bundle case the detection stops, also nearby detection (<50cm) is not possible.