Add camera streams to realtime mode

I would be nice to have also the camera streams visible in realtime.

The typical camera streams are:
- Jabra: that is logged with an openCVGrabber device in the same interface (@S-Dafarra mentioned adding a device to also expose the stream to a yarp port)
- RGBD realsense: this is already available on the yarp network

Then the visualizer could bypass the logger and connect directly to the yarp ports to show the camera views in realtime,

Additionally it would be nice to be able to move the tabs around and rearrange cameras, 3d view and plots.

cc @xela-95