make PCLVisualizer a.addCoordinateSystem(1.0) compile again

With the new id-versions of {add,remove}CoordinateSystem it
became ambiguous which function should be called by
`pcl_visualizer.addCoordinateSystem(1.0)` because all of these functions
support default parameters for most arguments (including the id).

This commit removes the default parameter for viewport in all deprecated
function definitions and therefore makes sure addCoordinateSystem(1.0)
can only refer to the modern function definition.
Added the transform of each cloud as part of the Vertex structure
Merge pull request #863 from mlopezantequera/master

Added the transform of each cloud as part of the Vertex structure
Merge pull request #851 from v4hn/fix-addcoordinatesystem

make pcl_visualizer.addCoordinateSystem(1.0) compile again
Fix incompatibility with Boost 1.56

The fix is based on the proposal of Andrew McMahon (@McDamon, #864).
Merge pull request #867 from taketwo/fix-lzf

Fix incompatibility with Boost 1.56
Merge branch 'master' of https://github.com/PointCloudLibrary/pcl