- Replace the
Utils::ComputeMeanAndPCAfunction. This new version, using optimized
pcl::eigen33functions, 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%.