Refactored RegistrationIcp / Integrated CCCoreLib#704
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… icp odometry (we can then avoid refiltering data with local map of F2M). All data filtering (including libpointmatcher DataFilters) are done at the beginning of the function.
…e stable this way).
…rce4DoF. Icp/PM is now Icp/Strategy. Icp/PMOutlierRatio is now Icp/OutlierRatio.
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