CameraOrbbec: support explicit rate on non-TOF cameras. (#1627)

* rtabmap-rgbd_camera: added width/height options, 
* using CameraViewer for visualization by default (use -pcl option for old visualization). 
* CameraViewer: added capture and render rate.
* Note that non-TOF orbbec cameras could not be tested.

tools/Report/CMakeLists.txt

@@ -2,7 +2,6 @@
 set(LIBRARIES rtabmap_core)
 
 IF(WITH_QT AND (QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND))
-    ADD_DEFINITIONS("-DWITH_QT")
     set(LIBRARIES ${LIBRARIES} rtabmap_gui)
 ENDIF(WITH_QT AND (QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND))
 
@@ -10,8 +9,10 @@ ADD_EXECUTABLE(report main.cpp)
   
 TARGET_LINK_LIBRARIES(report ${LIBRARIES})
 
-SET_TARGET_PROPERTIES( report 
-    PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-report)
+SET_TARGET_PROPERTIES(report PROPERTIES 
+    OUTPUT_NAME ${PROJECT_PREFIX}-report
+    COMPILE_DEFINITIONS "WITH_QT"
+)
     
 INSTALL(TARGETS report
 	RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime