Cleaning and refactoring of keypoints matching

• Check that enough neighbors are requested to build the target model (2 for a line, 3 for plane, 4 for ellipsoid)
• Fix BLOB support (enable setting number of blobs neighbors, output blob weights and matches)
• Rename, reorder, update doc of keypoint matching parameters

WARNING: as the parameters names are changed, all config files defined in other projects and using this SLAM algorithm need to be updated