PointBasedMeasure EvaluateTrajectory_SFM contains hard-coded intrinsic parameters

```
The intrinsic parameters in PointBasedMeasure EvaluateTrajectory_SFM are 
scene-specific and need to be replaced by calls to the camera projection and 
inverseProjection functions.


```

Original issue reported on code.google.com by `dddvis...@gmail.com` on 11 Dec 2012 at 8:16
