[PV][feat] Add MiniSlam filter

Goal

The aim of this MR is to add a MiniSLAM filter inside the paraview_wrapping as a separate filer and consider it as an alternative of the SLAM in order to improve the efficiency of this processing, so that it directly outputs the last N aggregated frames. It would also simplify the interface of the SLAM to remove some of its functionalities that are not relevant to the MiniSLAM use case : Loop Closure detection, Pose graph optimization, overall map.

Changes

• A class called vtkMiniSlam is added to PV_wrapping. It heritages from vtkSlam class.

Results

A demo of mini slam:

LidarView interface of MiniSlam filter

default mode:

advanced mode:

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

What remains to solve

• Make mini slam property group before slam parameters when advanced mode (use subProxy)
• Check runtime when number of slam frames is set large (Use function transform of pcl)