Odometry local map can be limited by range (#482)

* Odometry local map is now dependent on robot range and not on time, recalculating normals after adding new scan to the map as well

corelib/include/rtabmap/core/Parameters.h

@@ -440,6 +440,7 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(OdomF2M, ScanMaxSize,         int, 2000,    "[Geometry] Maximum local scan map size.");
     RTABMAP_PARAM(OdomF2M, ScanSubtractRadius,  float, 0.05,  "[Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the scans.");
     RTABMAP_PARAM(OdomF2M, ScanSubtractAngle,   float, 45,    uFormat("[Geometry] Max angle (degrees) used to filter points of a new added scan to local map (when \"%s\">0). 0 means any angle.", kOdomF2MScanSubtractRadius().c_str()).c_str());
+    RTABMAP_PARAM(OdomF2M, ScanRange,           float, 0,     "[Geometry] Distance Range used to filter points of local map (when > 0). 0 means local map is updated using time and not range.");
     RTABMAP_PARAM(OdomF2M, ValidDepthRatio,     float, 0.75,  "If a new frame has points without valid depth, they are added to local feature map only if points with valid depth on total points is over this ratio. Setting to 1 means no points without valid depth are added to local feature map.");
 #if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM2)
     RTABMAP_PARAM(OdomF2M, BundleAdjustment,          int, 1, "Local bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");

corelib/include/rtabmap/core/odometry/OdometryF2M.h

@@ -70,6 +70,9 @@ private:
 	int bundleAdjustment_;
 	int bundleMaxFrames_;
 	float validDepthRatio_;
+	float scanMapMaxRange_;
+	int pointToPlaneK_;
+	float pointToPlaneRadius_;
 
 	Registration * regPipeline_;
 	Signature * map_;