changed all pointers to boost shared pointers to allow better export to e.g. pcl. I want this because otherwise it is hard to keep the copied data up to date without risking segfaults if ptam decides to trash points or kf's. Also applied ros formatting to all files
changed patch finder to also use shared ptrs
using reset for the shared_ptrs instead of assignment
finished octomap interface for ptam. A problem that will probably needs fixing is that with a limited number of keyframes all points eventually get become 'bad' because they loose their supporting key frames. therefore we will probably delete too many points
minor
merged and removed warnings