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Refactoring: Renamed rtabmap::Image to rtabmap::SensorData

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removed keypoints and descriptors stuff from CameraEvent and Image/SensorData
removed keypoints3 from Image/SensorData

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1653 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-08-18 23:14:04 +00:00
parent 9aca634b28
commit e460cb592f
34 changed files with 499 additions and 557 deletions
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9
corelib/src/util3d.cpp
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@@ -1193,14 +1193,11 @@ Transform transformFromXYZCorrespondences(
if(correspondencesInliers.size() == correspondences->size() && transform.isIdentity())
{
//Wrong transform
UINFO("Wrong transform: identity");
UDEBUG("Wrong transform: identity with full inliers");
transform.setNull();
if(inliers)
{
*inliers = 0;
}
}
else if(inliers)
if(inliers)
{
*inliers = (int)correspondencesInliers.size();
}