Add ReLOC - Initial alignment algorithm #1
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- FLARELocalReferenceFrameEstimation class added - unit test for FLARELocalReferenceFrameEstimation class added - directedOrthogonalAxis, projectPointOnPlane getAngleBetweenUnitVectors, randomOrthogonalAxis, normalDisambiguation and planeFitting methods of BOARDLocalReferenceFrameEstimation class moved to lrf_utils.hpp
…BugFix BugFix: Filters used applyFilter twice.
…vtk_fixes Fix compilation when WITH_VTK=OFF
…_macosx Fix compilation on Mac OSX
Fix error in print info of transform point cloud.
Moreover: Add LRF_utils.h Add LRF_utils.cpp
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ReLOC is an initial alignment algorithm proposed in:
Petrelli A., Di Stefano L., "Pairwise registration by local orientation cues", Computer Graphics Forum, 2015.
It requires the FLARE method for the computation of repeatable reference frames. FLARE method is implemented by the FLARELocalReferenceFrameEstimation class proposed through the pull request PointCloudLibrary#1571.
ReLOC requires also some changes of Hough Voting and RANSAC. Moreover, it introduces the FlatKeypoint detector.