Add VioDataset class

[leokoppel]

Adds a VioDataset - same idea to VoDataset but including inertial measurements.

Currently this uses the existing VoDatasetGenerator and reformats it a bit. Possibly in future it will replace VoDataset entirely, but that is more work.

The file format (coming in next PR, to keep them manageable) will be compatible with kitti.

Pre-Merge Checklist:

• [x] Code is documented in doxygen format
• [x] Code has automated tests
• [x] Zero compiler warnings
• [x] Formatted with clang-format