Merge branch 'refactor' into 'master'

.clang-format

CMakeLists.txt

action/RunOptimise.action

cfg/initial_params.txt

cfg/params.yaml

include/cam_lidar_calibration/feature_extractor.h

include/cam_lidar_calibration/load_params.h

include/cam_lidar_calibration/main.h

include/cam_lidar_calibration/openga.h

include/cam_lidar_calibration/optimiser.h

include/cam_lidar_calibration/optimizer.h

include/cam_lidar_calibration/point_xyzir.h

launch/cam_lidar_calibration.launch

msg/.gitkeep

msg/calibration_data.msg

msg/extrinsics.msg

nodelet_definition.xml

package.xml

plugin_description.xml

rviz/cam_lidar_calibration.rviz