Add 2D optimization mode (!118) · Merge requests · KEU-ComputerVision / Slam · GitLab

Nicolas Cadart requested to merge Slam2D into master Apr 22, 2021

If enabled, only 2D pose will be optimized:

X, Y, rZ will be optimized
Z, rX, rY will be held constant

This is useful for 2D indoor robot localization.

@julia.sanchez @nick.laurenson PTAL