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[WIP][feat] Get neighbors from Vertex map for kpts extraction

Julia Sanchez requested to merge BuildVertexMap into master
  • The keypoints extraction is based on laser neighborhood analysis on each point.
  • By now, the neighbors are obtained with the points order in each scan line.
  • With this MR, a vertex map is built to store the points and to better extract the laser beam neighbors.
  • The points which have no such neighbor (left or right) are considered to lay on a depth gap boundary.
  • The points which miss some neighbors are excluded from keypoints extraction.
  • The line fitting process is changed to avoid computing a PCA on few points (default is 4).
  • This new process improves the results on various datasets (motorways, car loop).
  • Moreover, we can imagine that the new keypoints on gap boundaries can be really helpful in very features poor environement (on sea for instance).
  • These changes are based on the fact that the angle resolution has been computed automatically and a new feature extractor structure exists.
  • The combination of this new process with other improvements have to be discussed.

@nicolas.cadart @nick.laurenson PTAL

Edited by Julia Sanchez

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