Added image size to all camera calibration inputs. Memory::computeTransform() more fine tuning to know if data should be loaded from database.

corelib/include/rtabmap/core/Memory.h

@@ -111,7 +111,7 @@ public:
 			int maxGraphDepth) const;
 	void deleteLocation(int locationId, std::list<int> * deletedWords = 0);
 	void removeLink(int idA, int idB);
-	void removeRawData(int id);
+	void removeRawData(int id, bool image = true, bool scan = true, bool userData = true);
 
 	//getters
 	const std::map<int, double> & getWorkingMem() const {return _workingMem;}

corelib/include/rtabmap/core/StereoCameraModel.h

@@ -90,6 +90,9 @@ public:
 	void setName(const std::string & name);
 	const std::string & name() const {return name_;}
 
+	// backward compatibility
+	void setImageSize(const cv::Size & size) {left_.setImageSize(size); right_.setImageSize(size);}
+
 	bool load(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform = true);
 	bool save(const std::string & directory, bool ignoreStereoTransform = true) const;