[feat] Improve calibration from poses

Goals

Improve the filter which computes the calibration between a LiDAR sensor and a camera using their trajectories. These trajectories can be obtained by a SLAM process for example

Changes

Feat

• Add automatic time shift computing between two trajectories to the calibration filter.
• Support the case when trajectory is planar.
• Support the case when trajectories are not in the same scale.
• Add output of the transform.

Fix

• Fix output of trajectory after applying computed transform.

Refact

• Improve descriptions of filter inputs.