Update sfm pipeline to accept meshes

[servantftechnicolor]

see alicevision/AliceVision#1803

This PR add a set of features to enable use of lidar measures as smooth constraints on the landmark positions.

Assumes one frame of the sequence is correclty aligned with the lidar geometric frame.
Assumes the camera calibration is fully and precisely known.
Use Mesh generated from lidar to fetch 3D point for a given 2D landmark by point back projection.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 69.93%. Comparing base (aeb77d8) to head (fce6ba1).
Report is 54 commits behind head on develop.

Additional details and impacted files

@@             Coverage Diff             @@
##           develop    #2642      +/-   ##
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+ Coverage    69.90%   69.93%   +0.02%     
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  Files          121      121              
  Lines         7078     7088      +10     
===========================================
+ Hits          4948     4957       +9     
- Misses        2130     2131       +1     

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