SLAM: Fix minor bugs.
SLAM: attempt to use estimateAffine3D.  But it finds the optimal transformation as something that goes off the xy plane
SLAM: Replaced opencv's crappy findHomography with functioning, custom estimateAffine.
SLAM: add a 'bbest-of-best' clause in estimateAffine RANSAC
Merge branch 'master' of https://github.com/ufieeehw/IEEE2015