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

tools/CameraRGBD/main.cpp

@@ -346,7 +346,7 @@ int main(int argc, char * argv[])
 		exit(1);
 	}
 
-	rtabmap::SensorData data = camera->takeImage();
+	rtabmap::SensorData data = camera->takeData();
 	if (data.imageRaw().empty())
 	{
 		printf("Cloud not get frame from the camera!\n");
@@ -522,7 +522,7 @@ int main(int argc, char * argv[])
 			printf("Saved frames %d to \"%s/left\" and \"%s/right\" directories\n", id, stereoSavePath.c_str(), stereoSavePath.c_str());
 		}
 		++id;
-		data = camera->takeImage();
+		data = camera->takeData();
 	}
 	printf("Closing...\n");
 	if(viewer)