Draft: Resolve "New branch laser 3d"

Closes #27

requested review from @jsola

assigned to @vsainz

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• 0bf8a103 - New capture laser 3d

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• 43490c63 - [skip ci] license headers added or modified

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• fe996879 - new tests for laser3d_tools.h
• 19f00d3f - WIP start coding processor odom icp
• e59943d2 - Merge branch '27-new-branch-laser-3d-2' of...

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• 94b0c653 - [skip ci] license headers added or modified

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• 635f6ad1 - Completed Processor_Odom_ICP_3d
• d2daa45c - resolve conflict

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• 19362bd8 - Remove typedefs and using aliases for PointCloud

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• 214fa9cf - Preparing for tomorrow testing

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• 4cc2ccb6 - added test WIP

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• 4969af54 - [skip ci] license headers added or modified

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• 1349f681 - proper const/non-const getters

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• 302084a0 - getCapturesOfType returns already derived pointers

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• b5295590 - not necessary cmake lines
• 4fe83de8 - removed namespace laser

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• 7bb1ad7b - cleaning cmakelists

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• 185428e4 - wip
• 368c75a3 - Merge branch '27-new-branch-laser-3d-2' of...
• ada46702 - test added & factory registered

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• 1f32acd8 - Improve YAML params
• 06a96398 - Fix some bugs related to orig/last pointers
• 4d5546d7 - Complete gtest with a 3rd Capture processed

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• 182cfcb5 - Rename vote_elapsed_time -> max_time_span

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• bed24ff1 - Add include guards !!!
• fb114b6e - Use pointer to registration_solver, enable 3 algorithms
• ae25ee89 - Improve downsample options
• b9d39987 - Use more KFs in gtest

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• 34bea22a - Tune proc icp 3d yaml
• d89f737c - Add downsample params to call to pairAlign
• 0f68e59b - Add timing debug info to pairAlign()

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• 61b37ba2 - pointer cast changed from std::make_shared to pcl::make_shared

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• 6afb6266 - Downsampling now at capture

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• 9de14670 - Downsampling moved from constructor of capture to preProcess()

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• 19129848 - Renamed getters of PCLs on capture

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• 9c3718b8 - created setPCLDownsampled(pcl_ptr)

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• 5070828f - Remove old duration info
• c4949f3c - Add duration of downsampling
• ba2b9bc3 - fix gtest function call
• 7255c15e - Modify voteForKf to use last timestamp and not incoming
• bd4f9511 - Make test with a for loop to make more KFs

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• 5c528c49 - relocated function loadData()

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• 7ef323a4 - Vote by fitness score
• 1ccfdecb - Remove redundant code

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• ec94c1db - [skip ci] dummy]

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• 8154a235 - New loader for binaries
• 5567d225 - Merge branch '27-new-branch-laser-3d-2' of...

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• 74263d35 - cleaning code

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• 9f7c104c - fixed loadData()

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• 80945dc6 - new gtest kitti

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• db615c8c - moved PCLdownsample and renamed variables

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• f5180cab - Testing somethig litle

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• 11d440cd - New pclDownsample() which only uses in and out clouds

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