initial implementation of localization. service switch needed. testing needed. localizing against all the keyframes for now.
Merge branch 'feature-localization' of https://github.com/bosch-ros-pkg/rgbdslam_v2 into localization-switch
small speedups
Merge branch 'hydro' of https://github.com/bosch-ros-pkg/rgbdslam_v2 into feature-localization
memory leak fixed
added service as \switch for turning on localization only mode
Merge branch 'feature-localization' into localization-switch
localization mode: only update pose if more matches are found than the minimum amount and small bugfix
added service file for localization switch service
logic for keyframes matching in localization. needs to be tested
added visualization for best match keyframe to GUI
merge conflicts
replicated parameterserver
localization_mode: still trying to select the keyframes to compare to in a smart way. Bugfixing, something seems to be wrong with the transformations. Therefore, the nearest keyframes are not selected correctly
bugfixed location only mode - yay! - once it is localized it takes only the n closest keyframes to keep tracking. If it lost localization, it checks all keyframes for matches. Also added the number of keyframes to match against for tracking and an option to publish tf transforms for all keyframes to the parameter server
Merge pull request #4 from bosch-ros-pkg/marikarol_fixing

bugfixed localization mode and cleaned up
adding odometry to for estimation of the current pose for choosing keyframes to localize against to the localizer. Needs debugging
Merge branch 'feature-localization' of https://github.com/bosch-ros-pkg/rgbdslam_v2 into localization_odom
estimating the next camera pose as a prior for choosing the closest keyframes to the current position based on odometry
small naming bugfix