Clean master copy from may12

I have copied Yosef implementation of calibration.c and calibration.h into a clean fork of OpenPTV/openptv, 
added to it rotation_matrix with slightly modified signature and now this code can be separated from jw_ptv.c, from the globals, from typedef.h and live separately in the liboptv. 

Please, review and approve/reject it. 

Installation instructions are identical:

cd liboptv
mkdir build
cd build
cmake ../ -i 
 choose i386 if you're on Mac OS X as the Architecture parameter
cmake ../ -G "Unix Makefiles"
make
make test


The output is roughly:

AlexMacBookPro:build alex$ make
[ 50%] Built target optv
Scanning dependencies of target check_calibration
[ 75%] Building C object tests/CMakeFiles/check_calibration.dir/check_calibration.c.o
Linking C executable check_calibration
[ 75%] Built target check_calibration
Scanning dependencies of target check_fb
[100%] Building C object tests/CMakeFiles/check_fb.dir/check_fb.c.o
Linking C executable check_fb
[100%] Built target check_fb


AlexMacBookPro:build alex$ make test
Running tests...
Test project /Users/alex/Documents/PTV/alexlib-openptv/liboptv/build
    Start 1: check_fb
1/2 Test #1: check_fb .........................   Passed    0.06 sec
    Start 2: check_calibration
2/2 Test #2: check_calibration ................   Passed    0.01 sec

100% tests passed, 0 tests failed out of 2

Total Test time (real) =   0.14 sec