Comments and make more readable nbOfDifferentMatches function

src/processor/processor_tracker_landmark_object.cpp

@@ -657,10 +657,16 @@ int ProcessorTrackerLandmarkObject::nbOfDifferentMatches(const std::vector<std::
 
     for (auto match : matches)
     {   
+        //Nb of occurences of indexes
+        int index_last_feat_occurrence = std::count(index_last_feat.begin(), index_last_feat.end(), match.first);
+        int index_incoming_feat_occurrence = std::count(index_incoming_feat.begin(), index_incoming_feat.end(), match.second);
+        
         //Check if the pair has unique indexes
-        if(!(std::count(index_last_feat.begin(), index_last_feat.end(), match.first)) && !(std::count(index_incoming_feat.begin(), index_incoming_feat.end(), match.second)))
+        if(index_last_feat_occurrence == 0 && index_incoming_feat_occurrence == 0)
         {
             nb_of_diff_matches++;
+
+            //Add unique indexes in vector
             index_last_feat.push_back(match.first);
             index_incoming_feat.push_back(match.second);
         }
@@ -689,7 +695,7 @@ bool ProcessorTrackerLandmarkObject::isInliers(Eigen::Isometry3d cl_M_ol, Eigen:
     Eigen::Matrix3d wRf_i = identity.linear();
     quat_feat_identity.coeffs() = R2q(wRf_i).coeffs().transpose();
     Vector3d pos_feat_identity = identity.translation();
-    
+
     // Error between identity and ol_M_oi
     double e_pos = (pos_feat_identity - pos_feat).norm();
     double e_rot = log_q(quat_feat_identity.conjugate() * quat_feat).norm();