GsplatLoc

[x] clean config in base.py

1. tracking
   1. normalize pcd and pose via PCA
   2. update depth_gt with a proper method
   3. loss with depth and edge and normals
   4. find an early stop condition !!! -> total loss and later than 100 step
   5. sync data shape and avoid too much middle vars through backward
   6. total dataset eval
      1. replica
         1. [x]gsplatloc
         2. [x]icps
      2. TUM