Unit tests for all filters added

Wipe unneeded stuff

Renamed some tests to reflect better their use

Renamed some tests to reflect better their use
Add in-place filters
Tolerance added in utest
Indentation fixes
Increase tol to rotTol = 1e-2, transTol = 1e-3, hope it passes
utest: This tol passed on OSX, maybe it will work here?
Merge pull request #25 from oleg-alexandrov/inplace

New unit tests and inplace filters.