Improve learnsifts and glwindow

Hi,

This PR allows to manipulate the object during training by using the following control scheme:
- Middle click moves the object towards or away from the camera
- Right click moves the object along the x/y axes of the window
- Pressing X/Y/Z will allow to rotate the objects around its own X/Y/Z axes
  using the left mouse
- X/Y/Z rotations are exclusives

Note that if the user moved the model with the mouse then the model is reset to the latest position that was attributed my the operator and not the one from pose.cal when pressing [R]

The PR also brings small fixes to BLORT (module_glwindow)