Forcing 3DoF won't work on localization using libpointmatcher
When I run rtabmap in localization mode (forcing 3DoF using libpointmatcher, icp odometry),
the transform /map->/odom evaluates all the 6 DoF anyway.
This problem won't happens in mapping mode.
I'm using libpointmatcher because "ICP PointToPlane ignored for 2d scans with PCL registration" warning occured when setting Icp/PointToPlane to true.
I'm not sure whether this is an issue of rtabmap or a libpointmatcher.
I'm using 2D LiDAR, and latest source of rtabmap, rtabmap_ros, libpointmatcher.
This is my icp_odometry parameters: