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Correct and refact keypoints matching

Julia Sanchez requested to merge CorrectKeypointMatching into master
  • Fix Tukey loss use and add correction for too low CERES versions
  • Uniformize keypoints matching with all keypoint types
  • Remove "MSE" check

It was tested on car_loop and office data sets and gave similar results as master.

@nicolas.cadart PTAL

Edited by Julia Sanchez

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