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Adapt PV wrapping to Ouster data

Nicolas Cadart requested to merge AdaptToOusterData into master

Adapt PV wrapping such that SLAM can work with Velodyne or Ouster data.

PV wrapping tries to auto-detect LiDAR model (currently legacy Velodyne or Ouster) to get the correct arrays to use from VeloView or OusterStudio. User can also explicitly set which arrays to use if their names are non-standard.

@nick.laurenson @julia.sanchez @melanie.carriere @lea.vauchier Please take a look.

I am half satisfied by the PV wrapping modification : this enables the SLAM filter to "work" in VeloView or OusterStudio by correctly selecting the input arrays. However, some parameters should still be tuned manually to get better behavior (especially in keypoints extraction : edge intensity gap, azimuth resolution, number of neighbors...). To minimize this issue, I added some checks to warn user for some unreliable settings depending on detected LiDAR sensor.

Edited by Nicolas Cadart

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