Odom sensor option (#726)

* Added Odom Sensor option

* Odom Sensor: Added pose time offset parameter

* Gui: fixed odom cloud not shown when rgb/depth doesn't have same size. Odom sensor: fixed rawImages set on non-stereo camera (because stereoRectify wrongly set to all cameras)

* Calibration: fixed rgb and depth suffixes not correctly set. OpenNI2: horizontal and vertical shifts can be also set for default calib.

* Fixed a warning

* OdomSensor: added option to use odom sensor output as ground truth (for comparison between odom sensor and rtabmap odom). Added scale factor option.

* FindG2O.cmake: updated path suffixes to find EXTERNAL csparse

* Pose3GravityFactor: fixed dllimport error on windows

* UI: Statistics panel not updated if not visible and keep stats in cache is unchecked. Added description to some timing debug logs in processStatistics().

* Removed vtkOutputWindow on Windows

* Odom Sensor: added zed sdk support

* bump version 0.20.11

corelib/include/rtabmap/core/camera/CameraK4A.h

@@ -89,6 +89,7 @@ private:
 	int depth_resolution_;
 	bool ir_;
 	double previousStamp_;
+	double timestampOffset_;
 	UTimer timer_;
 	Transform imuLocalTransform_;
 #endif

corelib/include/rtabmap/core/camera/CameraRealSense2.h

@@ -69,7 +69,8 @@ public:
 	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
 	virtual bool isCalibrated() const;
 	virtual std::string getSerial() const;
-	bool odomProvided() const;
+	virtual bool odomProvided() const;
+	virtual bool getPose(double stamp, Transform & pose, cv::Mat & covariance);
 
 	// parameters are set during initialization
 	// D400 series
@@ -83,7 +84,7 @@ public:
 	void setJsonConfig(const std::string & json);
 	// T265 related parameters
 	void setImagesRectified(bool enabled);
-	void setOdomProvided(bool enabled);
+	void setOdomProvided(bool enabled, bool imageStreamsDisabled=false);
 
 #ifdef RTABMAP_REALSENSE2
 private:
@@ -112,7 +113,6 @@ private:
 	float depth_scale_meters_;
 	rs2_intrinsics depthIntrinsics_;
 	rs2_intrinsics rgbIntrinsics_;
-	rs2_extrinsics depthToRGBExtrinsics_;
 	cv::Mat depthBuffer_;
 	cv::Mat rgbBuffer_;
 	CameraModel model_;
@@ -132,6 +132,7 @@ private:
 	bool irDepth_;
 	bool rectifyImages_;
 	bool odometryProvided_;
+	bool odometryImagesDisabled_;
 	int cameraWidth_;
 	int cameraHeight_;
 	int cameraFps_;

corelib/include/rtabmap/core/camera/CameraStereoZed.h

@@ -78,6 +78,7 @@ public:
 	virtual bool isCalibrated() const;
 	virtual std::string getSerial() const;
 	virtual bool odomProvided() const;
+	virtual bool getPose(double stamp, Transform & pose, cv::Mat & covariance);
 
 	void publishInterIMU(bool enabled);