updates to bundle with lidar (#3250)

* adding dedicated BundleLidarPointVector class

* adding dedicated BundleLidarPointVector class

* adding dedicated BundleLidarPointVector class

* temp commits for testing bundle with lidar

* temp commits to bundle lidar

* updates for bundle lidar

* updates for bundle lidar

* added history comment noting that piecewise polynomial functionality has been disabled to get the lidar stuff working

* updates for bundle with lidar