[feat] Add an autostart plugin for SLAM

Goal:

• when a loop is detected, display where the loop is and ask the user what he wishes to do:
  • Close loop now : use loop closure constraint to optimize graph
  • Discard: do not use this detected loop
  • Keep it for later: save detected loop indice for slam to be used later

Below is a screen shot after a loop is detected. Trajectory is coloring in Time. Orange sphere indicates the revisited zone for the current frame.

TODO:

• The positions of detected revisited frame and query frame for loop closure need to be displayed in PV (maybe coloring the points of the relative frames). So that the user can see where the loop has been detected exactly.
• Update videos

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Old demo:

ApplyLoop

RejectLoop