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Fix refactoring bugs

Nicolas Cadart requested to merge RefactoringFixes into master

The last important refactorings (!103 (merged) and !101 (merged)) brought some bugs.

  • Lidar ICP residuals were added twice to the ceres problem, resulting in much slower optimization.
  • Set the max number of threads to use for parallel omp for loops to the number of keypoints types instead of a hard-coded "3 threads".
  • Do not build blob KDTree during ego motion registration step
  • Remove unsused PoseArray member in KeypointsMatcher
  • Reset all keypoints clouds even if unused. This is necessary otherwise old blob cloud is still displayed even if blobs are disabled.

@julia.sanchez PTAL

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