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Merged pcl_integration branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-12-11 00:12:44 +00:00
parent 97c70d394e
commit 8b8511e154
124 changed files with 21692 additions and 4458 deletions
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corelib/src/EpipolarGeometry.cpp
+3 -2
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@@ -18,7 +18,7 @@
*/
#include "rtabmap/core/EpipolarGeometry.h"
#include "Signature.h"
#include "rtabmap/core/Signature.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UTimer.h"
#include "rtabmap/utilite/UStl.h"
@@ -427,7 +427,8 @@ int EpipolarGeometry::findPairs(const std::multimap<int, cv::KeyPoint> & wordsA,
* if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(2,2) (4,4)]
* realPairsCount = 5
*/
int EpipolarGeometry::findPairsUnique(const std::multimap<int, cv::KeyPoint> & wordsA,
int EpipolarGeometry::findPairsUnique(
const std::multimap<int, cv::KeyPoint> & wordsA,
const std::multimap<int, cv::KeyPoint> & wordsB,
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs)
{