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

guilib/src/ui/mainWindow.ui

@@ -341,8 +341,15 @@
       <addaction name="menuOAK_D_Lite"/>
       <addaction name="menuOAK_D_Pro"/>
      </widget>
+     <widget class="QMenu" name="menuLiDAR">
+      <property name="title">
+       <string>LiDAR</string>
+      </property>
+      <addaction name="actionVelodyne_VLP_16"/>
+     </widget>
      <addaction name="menuRGB_D_camera"/>
      <addaction name="menuStereo_camera"/>
+     <addaction name="menuLiDAR"/>
      <addaction name="actionMore_options"/>
     </widget>
     <addaction name="menuSelect_source"/>
@@ -1718,6 +1725,14 @@
     <string>Depth AI</string>
    </property>
   </action>
+  <action name="actionVelodyne_VLP_16">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Velodyne VLP-16</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>