v0.2.1 - nuscenes dataloader

What's Changed

• 4 switch to sliding window optimization by @ga58lar in #8
• make processFrame public by @ga58lar in #10
• Submap saving by @ga58lar in #11
• nuscenes dataloader for .pcd.bin by @ga58lar in #12

Full Changelog: v0.2.0...v0.2.1