removed rotation_utils
added helper function to convert 3x3 to 4x4
removed all dependencies from boost: replaced boost::thread with std::thread
build vikit without ros
added FindEigen.cmake
default is to build with ROS/Catkin
Merge pull request #1 from uzh-rpg/feature/plain_cmake_build

Build vikit_common without ROS/Catkin
Merge remote-tracking branch 'upstream/master'