iOS various updates (#1340)

* Added Data Recording Mode. Added option to filter ARKit localization jumps.

* Implemented max acc relocalization filtering (working on iOS)

* Fixed android build, added re-localization max acceleration parameter

* ARCore Java: Fixed pose of depth not available at stamp requested

* Android log fix

* Added libLAS support

* ios: added LAS support

* updated dep install script to skip libraries already installed

* CameraMobile: Fixed origin not updated if updateOnRender() is used

* Default max opt error increased to 2x to reduce number of loop closures rejected. OptimizerGTSAM: updated gravity noise model to use same sigma for both parameters.

* Updated license

* bump 0.21.7

* updated license date

app/ios/Settings.bundle/Mapping.plist

@@ -70,6 +70,48 @@
 			<key>DefaultValue</key>
 			<false/>
 		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>Filter ARKit's re-localization events to avoid jumps in odometry when creating a map with RTAB-Map, which would cause large drift errors that are difficult to correct. Set an acceleration threshold to detect those events.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>ARKit Re-Localization Acceleration Threshold</string>
+			<key>Key</key>
+			<string>UpstreamRelocalizationFilteringAccThr</string>
+			<key>DefaultValue</key>
+			<string>58.8399</string>
+			<key>Titles</key>
+			<array>
+				<string>Disabled</string>
+				<string>10 g</string>
+				<string>9 g</string>
+				<string>8 g</string>
+				<string>7 g</string>
+				<string>6 g</string>
+				<string>5 g</string>
+				<string>4 g</string>
+				<string>3 g</string>
+				<string>2 g</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<string>0</string>
+				<string>98.0665</string>
+				<string>88.25985</string>
+				<string>78.4532</string>
+				<string>68.64655</string>
+				<string>58.8399</string>
+				<string>49.03325</string>
+				<string>39.2266</string>
+				<string>29.41995</string>
+				<string>19.6133</string>
+			</array>
+		</dict>
 		<dict>
 			<key>Type</key>
 			<string>PSGroupSpecifier</string>
@@ -368,7 +410,7 @@
 			<key>Key</key>
 			<string>MaxOptimizationError</string>
 			<key>DefaultValue</key>
-			<integer>1</integer>
+			<integer>2</integer>
 			<key>Titles</key>
 			<array>
 				<string>4x</string>