Remove GPL infringing code #252
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Remove color scheme black
…de), and - Remove unused parentheses - Split global bundle adjustment into two member functions - Fix nested ifs to logical operations.
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Removed suspicious similarities found in #239.
I have also removed problematic parts of unnaturally similar data structures and algorithms.
This change will remove some features and may reduce performance for some datasets, but would allow OpenVSLAM to be released under the BSD license.