unstable: major changes to add tracking

High speed tracker is segfaulting, not committed yet.
Changes:
1. Add tracking (6Dof Fwd, slow)
2. Provide depthmap accessor to cost volume
3. Added a neat "quiet" utility to silence debug info per file
4. Make initOptimization threadsafe after first call
5. Solved a nefarious pass by reference bug
6. Add derivations of my magic camera matricies
7. Add z-buffering to projeciton code
8. Add occlusion detection by color
9. Convert graphics to queue so things go in order
10. Probabalistic debugging output where too much data
11. Add Lie group processing utils
unstable merge
Merge branch 'master' of https://github.com/anuranbaka/OpenDTAM into stable

Conflicts:
	Cpp/CMakeLists.txt
pointless commit to synchronize
quick test for memory corruption
A version demoing the map optimizer, with A-theta energy
A demo of forward projection
Not a midterm demo, but very interesting behavior when using L1 metric on theta springs
Revert "Not a midterm demo, but very interesting behavior when using L1 metric on theta springs"

This reverts commit 68d33a2fbc4467edcf4dae74320fbfc66e1eeca6.
Not a demo, but better soln. because of putting in Huber stuff. Slower convergence though.
Tracking demo, pause for each step
Cost volume building demo
Stable Checkpoint: Version where one tracker bootstraps off another.
Final commit before major refactoring
convenience
speedup computation
fix potential race condition
Really, we should move to boost threads ...
aaaaaaaaaaa