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Fix map update after PGO

Nicolas Cadart requested to merge fix/badMapUpdateInPGO into master

After PGO was run, there was an error in keypoints maps update : the last frame keypoints were overriden when transforming the logged keypoints, resulting in incorrect map aggregation for this last frame.

New local variables are now used to prevent overriding these points.

@nick.laurenson @gabriel.devillers

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