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2b. verify if results from sphere to mesh is the same that results computed directly on sphere #105

@alexpron

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@alexpron

The idea is to apply spangy directly onto a sphere where the curvature information has been mapped. There are tons of methods to map a mesh onto a sphere but ywe could use the one in Lefevre & Auzias, 2015 that can be implemented rapidly in slam
https://hal.archives-ouvertes.fr/hal-01222933/file/74-Lefevre.pdf

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