Massive changes (4.5 months of development)

-Changed input and disparity modules to be using ABS and thus allow
runtime initiliazitation of different modules
-Added ground remove module
-Added odometry module that calculates ego vehicle pose. Implements
LIBVISO2 algorithm
-Tracker module has many changes including usage of odometry to
compensate ego motion and calculating linear trajectory
-Added global segmentation map for tracker. Allows tracking multiple
targets without overlapping
-Input module now has Bumblebee class that allows using Bumblebee XB3
(and probably other) stereo cameras
-Added sounds for giving status information
-Added rudementary support for other disparity algorithms (like OpenCV )
-Added 3D model for coordinate system illustration
-Added quaternion math functions
-Threaded main. Disparity calculation and odometry calculation runs in
parallel, which speeds up the whole program by half
-New drawing functions like draw_box and draw_ground
-New functionallity to MAIN which allows exporting static and animated
point clouds (together with tracking and odometry information)

-Many, many more changes which have been either forgoten or less
important. Also many bug fixed which caused segfaults.