new fancy unnormalized planes
added edge_plane_normalize
added test for planes and calibration, using extended representation, removing exps from minimal representation of planes
removed non needed things
Merge branch 'g2o_hierarchical' of https://github.com/RainerKuemmerle/g2o into g2o_hierarchical

Conflicts:
	g2o/types/slam3d_addons/plane3d.h
modifiche pre laurea