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[ROS2][refact][fix] Uniformize and fix loop closure

Julia Sanchez requested to merge ROS2/fix/FixLoopClosure into feat/ROS2

Aligned on !417 (merged)

  • 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 member 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.

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