Refactoring inference and separating classes.

kmactavish commented 9 years ago

Note: I wanted to get this all pulled in at once, so the refactoring and file-splitting are lumped together. See the refactoring without the file-splitting. See the file-splitting only.

This pull request accomplishes the following

Refactor the binary inference out of the FabMap class and into an Inference class.
- This is necessary for my future changes, I derive from the Inference class.
Split the declarations from the monolithic openfabmap.hpp into several headers corresponding to .cpp files.
- Users can still use the single-include openfabmap.hpp which includes all of the modules that make up OpenFABMAP.
Add a bunch of Doxygen comments (not 100%, but getting there).

P.S. Sorry for the giant pull request :(.

arrenglover commented 9 years ago

Overall the changes look good. I also noticed that you have renamed some types as CV_EXPORTS, is this towards contributing to openCV 3.0? Thanks for the patch :)

kmactavish commented 9 years ago

I'll probably be a few weeks before I can come back to this (IROS, etc), but I'll eventually get around to addressing the comments with a new commit. :)

arrenglover / openfabmap

Refactoring inference and separating classes. #10