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[fix] Fix bugs and rename variables

Julia Sanchez requested to merge FixMinorBug into master
  • To be able to fit a line, the neighborhood must contain at least 2 points (unlike the 0 min as before), this lead to segfault errors when 1 only neighbor was detected.
  • This MR contains some renaming to be more consistent.
  • The invalidation step did not process all points and some non wanted keypoints appeared.

@nicolas.cadart PTAL

Edited by Julia Sanchez

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