Add APIs to get extrinsic/distortion matrix and timestamp, etc.

[davidliyutong]

Timestamps are helpful for researchers of robotics

Changes:

• [feature] add get_timestamp_usec method to capture
• [feature] add get_device_timestamp_usec to capture
• [feature] add get_system_timestamp_nsec to capture
• [feature] add get_extrinsic_matrix to calibration for getting extrinsic matrix of cameras
• [feature] add get_distortion_parameters for getting distortion parameters of cameras