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[feat] Add radius to define neighborhood

Julia Sanchez requested to merge feat/AddRadiusToDefineNeighborhood into master

  • To define a keypoint, the points neighborhoods are studied. Those neighborhoods were defined only by a number of points. Now, those neighborhoods are also defined by a radius. Points are added while the radius AND the number of points are not reached.

  • Lines were defined on this neighborhood to compute a curvature. This change allows to remove the rejection of too small lines because the neighborhood must be large enough now.

  • This fixes some specific use cases when the Lidar is very perpendicular and quite close to a wall, the neighborhoods were small (in terms of space) and always rejected.

  • The number of points to define a neighborhood is renamed for uniformization

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