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[refact][fix] Fix minor issue for loop closure

Tong Fu requested to merge fix/FixMinorIssueForLoopClosure into master

This MR fixes some small issues for loop closure

  • Check logging timeout for pose graph optimization
  • Text error for timer in LoopClosureRegistration
  • Redefine getter/setter for PGOConstratint
  • Regroup loop closure parameters

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