stereoslam parameter testing

	modified:   cvt/vision/SparseBundleAdjustment.cpp
	modified:   cvt/vision/slam/stereo/MapOptimizer.h
	modified:   cvt/vision/slam/stereo/StereoSLAM.cpp
	modified:   cvt/vision/slam/stereo/StereoSLAM.h
correct timeout

	modified:   cvt/io/DC1394Camera.cpp
templateized p3p

	modified:   cvt/vision/Vision.h
standard RANSAC scheme for pose estimation

	modified:   cvt/vision/slam/stereo/StereoSLAM.cpp
initial ReprojectionError class

- moved RobustWeighting to vision

	modified:   cvt/CMakeLists.txt
	modified:   cvt/util/SIMD.cpp
	modified:   cvt/util/SIMD.h
	new file:   cvt/vision/ReprojectionError.cpp
	new file:   cvt/vision/ReprojectionError.h
	renamed:    cvt/vision/rgbdvo/RobustWeighting.h -> cvt/vision/RobustWeighting.h

	modified:   cvt/CMakeLists.txt
	modified:   cvt/util/SIMD.cpp
	modified:   cvt/util/SIMD.h
	new file:   cvt/vision/ReprojectionError.cpp
	new file:   cvt/vision/ReprojectionError.h
	renamed:    cvt/vision/rgbdvo/RobustWeighting.h -> cvt/vision/RobustWeighting.h
	modified:   cvt/vision/rgbdvo/SystemBuilder.h
bundle adjust every 10th keyframe for the moment

	modified:   cvt/vision/slam/stereo/MapOptimizer.h
	modified:   cvt/vision/slam/stereo/StereoSLAM.cpp
	modified:   cvt/vision/slam/stereo/StereoSLAM.h
adding version for computing from inliers

	modified:   cvt/vision/ReprojectionError.cpp
	modified:   cvt/vision/ReprojectionError.h
added scanline matching with Rowlookup Table

	modified:   cvt/vision/features/BRIEF.h
	modified:   cvt/vision/features/FeatureDescriptorExtractor.h
	modified:   cvt/vision/features/ORB.h
	modified:   cvt/vision/features/MatchBruteForce.h
rowlookuptable stereo matching + pose refinement

	modified:   cvt/vision/slam/stereo/StereoSLAM.cpp
changed lambda update

	modified:   cvt/vision/rgbdvo/LMOptimizer.h
adding binary save and load options

	modified:   ../cvt/vision/slam/Keyframe.h
	modified:   ../cvt/vision/slam/MapFeature.h
	modified:   ../cvt/vision/slam/SlamMap.cpp
	modified:   ../cvt/vision/slam/SlamMap.h
Add identity methods to Quaternion
Add template type conversion operator to Quaternion
Merge pull request #40 from mherb/quaternion

Quaternion enhancements