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/LidarViewer/CMakeLists.txt

@@ -0,0 +1,32 @@
+
+IF(NOT WITH_QT)
+   # visualization module required
+   FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)
+ENDIF(NOT WITH_QT)
+
+SET(INCLUDE_DIRS
+    ${PROJECT_BINARY_DIR}/corelib/include
+	${PROJECT_SOURCE_DIR}/corelib/include
+	${PROJECT_SOURCE_DIR}/utilite/include
+    ${OpenCV_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
+)
+
+SET(LIBRARIES
+	${OpenCV_LIBRARIES} 
+	${PCL_LIBRARIES}
+)
+
+add_definitions(${PCL_DEFINITIONS})
+
+INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
+
+ADD_EXECUTABLE(lidar_viewer main.cpp)
+TARGET_LINK_LIBRARIES(lidar_viewer rtabmap_core rtabmap_utilite ${LIBRARIES})
+
+SET_TARGET_PROPERTIES( lidar_viewer 
+  PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-lidar_viewer)
+  
+INSTALL(TARGETS lidar_viewer
+		RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
+		BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)