Considering extrinsics in ICP processors

Currently, ProcessorOdomICP is emplacing factors of type FactorOdom2d which does not consider sensor extrinsics. Also, the ProcessorCloseLoopICP emplaces factors of type FactorLoopclosure2d which inherits from FactorRelative2d (again, no extrinsics are considered).

This makes both processors unable to be used along with an odometry (if the laser is not aligned with the robot origin) or to be used in two different lasers.

Also adapting to this MR in core.