Support matching with intensity

[at-wat]

No description provided.

[DaikiMaekawa]

looks interesting. you mean, considering intensity a part of matching score in the measurement update, right?

[at-wat]

Most complex part is treating incidence angle of the beam into the surface and reflection characteristics of it.
Simply taking intensity data into the likelihood calculation makes them improper.
I have some basic ideas to treat them with minimal run-time computation cost.

I'm planning to do it after #195.

[greymfm]

This could be tricky (treating incidence angle). However, depending on the material, one will get a high intensity (white material), a low (black material) and something in between (all other). The high and the low is less dependant on the incidence angle?

Idea: Take the difference multiplied by some small weight? (measurement value - expected value) * weight
Then this could at least filter out particles with wrong material (white vs. black or vice versa).