[PV] Add verbose timings and perform less maps updates
- Add more processing duration displays if verbosity level is high enough.
- Update maps 1 frame over MapsUpdateStep only to save time
Displaying these new timings makes me notice that maps conversions from PCL to VTK formats can sometimes represent more than 70% of SLAM filter duration ! By allowing to update them only 1 frame over N, we save a lot of times for a similar visual.
@nick.laurenson @lea.vauchier @jerome.dias @melanie.carriere PTAL
Edited by Nicolas Cadart