(videoRealSense): implement the record and playback from realsense library

What does this MR do?

Adding record/playback functionalities in ::videoRealSense::SScan.

• Record function can records all streams synchronously in one file in rosbag format (.bag)
• Playback function can replay recording and emulate a realsense device (filters can be applied, and camera parameters are the same as the real device).

Also add color on Ogre's SPointList adaptor.

Closes #314 (closed) Closes #237 (closed)

How to test it?

With realsense device

1. Compile and Run ExRealSense

2. Select Device in camera selector(any device can be selected it doesn't matter SSCan will re-ask you if several realsenses are plugged in)

3. Play

4. Configure the recorded file using the button

5. Press record to record a sequence, you can also press pause it will pause the recording

6. Stop the recording, stop the camera

7. Select File with the camera selector

8. Select the previously recorded file

9. Press play, you should visualize the recorded sequence

NOTE: Some actions are disabled when playing from a file, such as presets or IR emitter since you can not access to the device internal memory.

NOTE 2: infrared frame are also recorded, so the "Infra to Color" switch should work when playing recorded sequence.

Without realsense device

Please start at step 7. of the previous section, and replace the file by this one.

Data

Recorded sequence with realsense D415.

Some results

Additional tests to run

• windows
• macos
• linux

Associated Issues/Merge Requests

Closes #314 (closed) Closes #237 (closed)