Label Prop Improvements

## Type of Issue

We did a few improvements to label propagation that need to land in main consolidated with tests. This is work that has been cooked in separate branches already

1. Hole filling (https://github.com/facebookresearch/fairo/blob/ap/reex_chkpt/droidlet/perception/robot/handlers/label_propagate.py#L125-L138)
2. Point cloud matching for hello robot data (https://github.com/facebookresearch/fairo/blob/label_prop_robot/agents/locobot/robot_pipeline.ipynb)
3. In addition, we need to add depth filtering to 2 as well.

Select the type of issue:
- [ ] Bug report (to report a bug)
- [ ] Feature request (to request an additional feature)
- [ ] Tracker (I am just using this as a tracker)
- [x] Refactor request
- [ ] Documentation Ask