Prepared multithreading: vector of KeyRays, init() helper for constructors
OpenMP flags in main CMakeLists.txt
const access to points in Pointcloud
OMP parallelization of scan insertion (ComputeRayKeys) in
OccupancyOcTreeBase
added point operator [] to Pointcloud, cleanup parallelization
OpenMP backwards compatible with #ifdef guards
CMakeLists cleanup, OpenMP flags for all builds
Merge branch 'devel' into devel-openmp
Fixed merge
insertScanNaive renamed to insertScanRays, parallelized with OpenMP
graph2tree: transform pointcloud in batch before insertion
graph2tree: added "simple" option to test plain pointcloud insertion (insertScanRays)
schedule(guided) seems to be better for OpenMP in computeUpdate,
int as loop variable for better OpenMP compatibility
Compilation with OpenMP defaults to FALSE, fixed OCTOMAP_OMP env.var
Merge branch 'devel-openmp' into devel (OpenMP deactivated by default)