Merge pull request #9 from ozantonkal/implementing_addPointCloud

Implementing add point cloud
little refactoring
--amend
Merge remote-tracking branch 'remotes/ozan/refactoring_shapeMethods' into viz

Conflicts:
	modules/viz/test/test_viz3d.cpp
getShapePose/setShapePose simplification
little code beautification, formatting
camera initial implementation
set camera pose using affine
implementation of intrinsic parameter setter
simplify camera implementation