IP: Use custom description queue
Debug: utility to monitor memory usage
Descriptor.h: Order class members in constructor
minor fix
Image: Support images with 7 to 9 channels
Matrix.h: Utilities for putting matrix elems into vector and viceversa
DisparityMap: Templetize
Camera: Break CameraGeometry into cc file

Hopefully this saves some compilation time. There is more that could
be put in here. But they're listed as inline, so I'm leaving them in
the header so they'll actually be inlined.

(Though the code chunks that are marked as inline are incredibly
large. I doubt there is any benefit to them being inlined.)