added mask to inverse ideal pinhole model
* added feature-based translation estimation
* some minor fixes
fixed deadlock in map-class
added test cases for translation estimation
added function to determine the condition of a matrix
extended test cases for camera
* added adept library for automatic differentiation
* started rewriting of jacobian tests
fixed jacobian estimation with quaternion vector
added support for row-major order of jacobians as described in the
documentation on page 7
tweaked docu and test of camera functions
fixed signs of jacobians in pose library
added routine to convert between image- and modelpoints