Comment and add new function allMatchesSameType

src/processor/processor_tracker_landmark_object.cpp

@@ -538,6 +538,20 @@ void ProcessorTrackerLandmarkObject::allMatchesSameType(const FeatureBasePtrList
             index_incoming++;
         }
     }
+
+    std::vector<int> inliers_idx;
+    std::vector<int> outliers_idx;
+    Eigen::Isometry3d best_model = Eigen::Isometry3d::Identity();
+    bool RANSACWorks = ProcessorTrackerLandmarkObject::matchingRANSAC(cl_M_o_vec, ci_M_o_vec, matches, ratio_inliers_outliers_, inliers_idx, outliers_idx, best_model);
+
+    if (RANSACWorks)
+    {
+        std::cout << "RANSAC has worked" << std::endl;
+
+        //Keep only inliers
+        ProcessorTrackerLandmarkObject::filterMatchesInliers(inliers_idx, matches);
+        
+    }
 }