Slam steps refactoring

Nicolas Cadartrequested to merge
SlamStepsRefactoring into master

Refactor SLAM main steps for better clarity.

  • Add CheckFrame step that runs all sanity checks of incoming frames
  • Perform motion extrapolation in EgoMotion step as it aims at estimating relative motion
  • Rename UpdateFrameAndState to UpdateFrameTime and modify point-wise time field only if undistortion is enabled
  • Minor changes of printed info and reorganization of other steps

@julia.sanchez @nick.laurenson PTAL

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