Move initialization to doInitialize in OpenNIScaffold
Move initialization to doInitialize in OpenNIScaffold

Move the sdk initialization into the thread doInitialize. Also, during
registerDevice, start the thread if it hasn't been started, and wait for
it to be initialized before adding the device. This is required becuase
the SDK must be initialized before a new device can be added.

simquest/opensurgsim,simquest/opensurgsim,simquest/opensurgsim,simquest/opensurgsim