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[PV] Add verbose timings and perform less maps updates

Nicolas Cadart requested to merge PV/VerboseTimingsAndLessMapsUpdate into master
  • 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

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