Safeguard against corrupted xmls
Removed debug prints
utilities to get all the sweep xmls in a folder or for a particular waypoint
Added optional parameter specifying where to save room after using it to update metaroom
Point based way of checking for occlusions
SimpleXmlParser now parses and returns the dynamic clusters clouds, if it's been saved
Methods to parse and return dynamic cluster point clouds
Merge branch 'load_utilities' into load_utilities_test
Test dynamic clusters