ARCore: when tof camera is not available, use arcore point cloud as keypoints

app/android/jni/CameraARCore.h

@@ -50,6 +50,16 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 namespace rtabmap {
 
 class CameraARCore : public CameraMobile {
+public:
+	static LaserScan scanFromPointCloudData(
+			const float * pointCloudData,
+			int points,
+			const Transform & pose,
+			const CameraModel & model,
+			const cv::Mat & rgb,
+			std::vector<cv::KeyPoint> * kpts = 0,
+			std::vector<cv::Point3f> * kpts3D = 0);
+
 public:
 	CameraARCore(void* env, void* context, void* activity, bool smoothing = false);
 	virtual ~CameraARCore();