Timing Improvements #228
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Timing Improvements #228
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The primary change is to add an exponential moving average of the timing for each of preprocessing, odometry, and localization to the query cache.
This allows modules to make decisions based on the current compute load.
The primary feature is localization ICP is skipped depending on the time features. Tested with as low as 15 ms average time which will skip many frames.
Additionally, some redundant modules have been removed from LiDAR to reduce compile resources.