Refactoring

[luxiya01]

Changes included in this PR:

• For bathy_slam_real binary (test_slam_real.cpp and related files):
  • Wrap each step of the bathymetric SLAM process into a function
  • Add YAML file for SLAM config
  • Fix bug when computing LCEdges: use TFs from GICP registration results instead of DR pose
  • Change interaction with PCL visualizer: press space for next step
  • Add more benchmarking throughout the SLAM process (requires newest AUVLib!)
• Scripts:
  • scripts/naviedit_export_to_std_data.py: Add script to convert NaviEdit exported .xyz and .nav files into std_data
  • scripts/plot_results.py: Reformat file and migrate to Python3 syntax