ported current dvo work

	modified:   DVOCostFunction.h
	modified:   GNOptimizer.h
	modified:   IntensityKeyframe.h
	modified:   KeyframeData.h
	modified:   Optimizer.h
	modified:   PhotometricError.h
	modified:   RGBDKeyframe.h
	modified:   RGBDPreprocessor.h
	modified:   RGBDWarp.h
added missing semicolon

	modified:   cvt/vision/rgbdvo/RGBDPreprocessor.h
ported ColorCoding for stereoslam

	modified:   cvt/gfx/IColorCode.h