[MAYBE MERGE] Add research code directly#3

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tutunarsl wants to merge 5 commits intomainfrom

dev/turcan_research

Commits on Dec 11, 2023

Commits on Dec 15, 2023

Add surface normal publishing and read surface normals from the point cloud if exists
tutunarsl
committed

Commits on Jan 3, 2024

Gps support for offline gt generation and viz
tutunarsl
committed