Offline SLAM Small Bug Fix

[yuecideng]

1. Change depth_max -> max_depth.
2. Add --vis to control whether to visualize the result.

---

This change is 

[update-docs]

Thanks for submitting this pull request! The maintainers of this repository would appreciate if you could update the CHANGELOG.md based on your changes.

[yxlao]

There are some inconsistencies across the library regarding whether to use depth_max or max_depth. A quick search shows that depth_max is more often used than max_depth. I think depth_max is preferred, as it is consistent with depth_scale.

Could you do a search-replace to convert all max_depth to depth_max for everything related to the reconstruction system? For other use cases, e.g. the octree, we don't need to change.

[yuecideng]

Could you do a search-replace to convert all max_depth to depth_max for everything related to the reconstruction system? For other use cases, e.g. the octree, we don't need to change

No problem, but should we change them in OdometryOption? Because I notice that there are both max_depth, min_depth and max_depth_diff. Should we also change min_depth -> depth_min and max_depth_diff -> depth_diff_min?

[yxlao]

No problem, but should we change them in OdometryOption? Because I notice that there are both max_depth, min_depth and max_depth_diff. Should we also change min_depth -> depth_min and max_depth_diff -> depth_diff_min?

Yes, that sounds good to me.

[review-notebook-app]

Check out this pull request on 

See visual diffs & provide feedback on Jupyter Notebooks.

---

Powered by ReviewNB

[yxlao]

LGTM after CI.