Update to new MRPT, OpenCV and Pangolin API #13
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This set of commits updates the code to use the new API of MRPT2, OpenCV and Pangolin to make this compatible with Ubuntu 22.04.
We also added a couple of fixes to optionally construct StaticFusion with user-provided intrinsic so this can be used with other cameras.
This has been used in https://doi.org/10.48550/arXiv.2204.11923.