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Various code fixes

Nicolas Cadart requested to merge fix/variousMinorFixes into master

Various minor and medium fixes or improvements, mainly focused on slam_lib.

Among most important changes :

  • use of binary flags for keypoints labels and validity in SpinningSensorKeypointExtractor
  • Use of nanoflann for blobs keypoints ICP
  • Setting ROS wrapping to C++ 14

@nick.laurenson @lea.vauchier @melanie.carriere

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