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Accelerate PCA computation in keypoints extraction and registration

Nicolas Cadart requested to merge perf/AcceleratePCA into master
  • Replace the Utils::ComputePCA helper by Utils::ComputeMeanAndPCA function. This new version, using optimized pcl::computeMeanAndCovarianceMatrix and pcl::eigen33 functions, is approximately 35% faster.
  • Update ICP step and Keypoints Extraction to use this faster helper.
  • Also update keypoints extraction to use float computation only

This brings an ICP step speedup of about 10%, a keypoints extraction speedup of 20-50%, and an overall SLAM speedup of about 10%.

@julia.sanchez @nick.laurenson PTAL

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