Add a visualization based on viz3d to CT-ICP

[pdell-kitware]

Introduces viz3d visualization for CT-ICP, in order to visually see the SLAM in action.

The visualization uses the library viz3d for the visualization.

• Introduces registered callbacks to the Odometry algorithm, which provides access to the state at different stages of the algorithm to visualize them.
• Uses SlamCore's MultiPolyDataWindow to display the aggregated point cloud
• Adds a simple ControlWindow to pause / stop the SLAM

Note: These changes are made in parallel with the SlamCore library, which defines the generic tools used by our different mapping projects