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Add useful macros for SLAM use/debug

Nicolas Cadart requested to merge AddUsefulSlamMacros into master

These are useful macros to easily load data, init a SLAM filter on it, then track the last pose of the output trajectory:

  • load_lidar_data is an example/template macro to easily load a specific LiDAR recording
  • init_slam can be used to instantiate a SLAM filter on a LiDAR source and set nice display settings
  • focus_last_pose set at each timestep the focal point and center of rotation on the last pose of a trajectory
  • attach_last_pose does the same thing as focus_last_pose, but also set a fixed relative orientation (as if the camera was attached to this last pose)
  • slam_kp_matching outputs the current keypoints and color them by their matching status, which may help debugging why registration fails.

@julia.sanchez @lea.vauchier @nick.laurenson @melanie.carriere PTAL

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