make PCLVisualizer a.addCoordinateSystem(1.0) compile again

With the new id-versions of {add,remove}CoordinateSystem it
became ambiguous which function should be called by
`pcl_visualizer.addCoordinateSystem(1.0)` because all of these functions
support default parameters for most arguments (including the id).

This commit removes the default parameter for viewport in all deprecated
function definitions and therefore makes sure addCoordinateSystem(1.0)
can only refer to the modern function definition.
Add a common function called transformPointWithNormal
Merge remote-tracking branch 'Tonsty/master'