LiDAR capture support in standalone library (#1264)

* Working rtabmap_lidar-mapping example (live and pcap)

* finalizing merge, added some deprecated

* fixed build

* Working deskewing for Lidar + Camera/IMU (no camera pose correction yet) and Lidar + Odom Sensor in main UI.

* backward compatibility

* fixed some not used variable warnings, fixed qt build for lidar mapping example

* Refactored CameraMobile, added AREngine background support, fixed LidarVPL16 build error with PCL 1.8

* ARCoreJava: buffer last depth image in case its stamp i higher than pose stamp. CameraMobile: added pose buffer. SensorCaptureThread: to get pose, odomSensor should be explicitly set, but can be same as lidar or camera  inputs.

* Working external lidar on iOS

* util3d::commonFiltering()/adjustNormalsToViewPoint() added organized cloud support. MainWindow: updated odomSensor setup

* fixed winsock include order

* reverted camera tool

* disable imu filtering when odom sensor is used

* Updated package version

* fixed windows build

* fixing more windows build erros

corelib/src/CMakeLists.txt

@@ -13,8 +13,10 @@ SET(SRC_FILES
     
     Recovery.cpp
     
+    SensorCapture.cpp
+    SensorCaptureThread.cpp
+    
     Camera.cpp
-    CameraThread.cpp
     CameraModel.cpp
     
     camera/CameraFreenect.cpp
@@ -39,6 +41,8 @@ SET(SRC_FILES
     camera/CameraMyntEye.cpp
     camera/CameraDepthAI.cpp
     
+    lidar/LidarVLP16.cpp
+    
     EpipolarGeometry.cpp
     VisualWord.cpp
     VWDictionary.cpp