[PV][fix] Fix some interface inconsistencies

Goal

The loop closure interface was not user friendly enough and lead to bad pose graph estimations.

A bug was appearing when 2 loops were detected and the graph was optimized afterwards.

Changes

Interface

• Fix and improve verbose outputs
• Remove the default "no subsampling mode"
• Force submaps to be built on previous frames
• Correct and uniformize the visibility options
• Remove validation threshold on best loop closure

Library

• The loop closure transform is uniformized to be always relative in all code parts
• A hint prior transform can be provided to LoopClosureRegistration function. This prior can come from LogStates, Offset and/OR Teaser
• LoopClosureTransform is removed and a new transform member is added to LoopInfo (formerly LoopIndices) structure. This allows to store various LC transforms and to not override the value.

Results

Demo video

Checklist

• Camel case everywhere except for ROS variables/parameters
• Lower case for local variables and lambda functions
• Upper case for members, methods and tool functions (in Utils)
• Precise namespace when calling a function (or this->X or classe.X)
• Align code (for multiline if and while, "&&" or "||" go in upper line to ensure alignement)
• Check your spaces
  • between if, while, for and parenthesis
  • between operators and variables: e.g. a + b
  • after ","
• Mind your commit titles/desc (plurals, he/she + "s", correct tags, title should begin by a verb...)
• Function names should start with a verb, variable names should start with a name
• Macros should be between {}
• Do not use negative boolean (i.e. noJoe)
• Check minimal size of the types (double -> float -> int -> uint)
• Check const and ref in functions arguments
• References should be written "type& name", not "type &name"
• Update documentation
• Add MR labels [ROS]/[ROS2]/[PV]
• If ros/ros2, update task table here
• Add a comment over each non trivial function in header files
• Add a header to each new file