Added ViewPlane XY, XZ and YZ options to GraphViewer

Parameter RGBD/SavedLocalizationIgnored now called RGBD/StartAtOrigin (updated description, used only in localization mode)
IcpReg: if Force4DoF, set lower covariance values for roll and pitch
DbViewer: updated detectMoreLoopClosures with new minRadius option and update optimized poses between each new accepted loop closures.
MainWindow: suppressed warning if depth image is not found in current node data (when rgb is).
3D Map view: changed default map point size to 1 (was 2)

corelib/src/RegistrationIcp.cpp

@@ -1432,6 +1432,15 @@ Transform RegistrationIcp::computeTransformationImpl(
 					{
 						info.covariance = cv::Mat::eye(6,6,CV_64FC1)*variance;
 						info.covariance(cv::Range(3,6),cv::Range(3,6))/=10.0; //orientation error
+						if(_libpointmatcher &&
+							_pointToPlane &&
+							!force3DoF() &&
+							_libpointmatcherForce4DoF &&
+							!tooLowComplexityForPlaneToPlane)
+						{
+							// Force4DoF: Assume roll and pitch more accurate (IMU)
+							info.covariance(cv::Range(3,5),cv::Range(3,5))/=10.0;
+						}
 					}
 					info.icpInliersRatio = correspondencesRatio;
 					info.icpCorrespondences = correspondences;