Some changes in SRBA library

- Added an output variable for the optimization results yielded by stage
1 when optimizing edges.
- Added a variable to contain the observation RMSE error after
optimization.
- Support for independent selection of robust kernel in both stages when
optimizing edges.
Start of example to test obs removal
Fixed potential error in new keyframe pose initialization
Merge branch 'experimental-srba-branch' of https://github.com/jlblancoc/mrpt into experimental-srba-branch
Merge pull request #68 from piponazo/CleaningWarnings

Cleaning warnings
Make dc1394 camera driver more verbose and avoid wrong video mode

Possible values for camera features (shutter, gain, exposure) are set from .ini file but their possible range is unknown
When an unavailable video mode is set for a camera two situations can happen:
1. Camera works but without our chosen parameters
2. Camera freezes in dc1394_capture_dequeue in getObservation due to DC1394_CAPTURE_POLICY_WAIT

When initializing dc1394 driver in terminal more information is shown:
- Video modes supported and current mode selected
- Features configuration at run-time moment and possible values range
Video mode is checked to assure that it is valid for current camera
Remove dependency on #pragma pack's in geom data
More pragma pack's removed.
Clean-up of commented-out #includes
Merge pull request #69 from jesusbriales/dc1394verbose

Make dc1394 camera driver more verbose and avoid wrong video mode
Update AUTHORS
Merge branch 'dc1394verbose'
Update AUTHORS
Merge remote-tracking branch 'upstream/master'
Fix warning
Consistency in all "laser scan" classes

Consistency in all "laser scan" classes: angular increments between rays
are now FOV/(N-1) instead of FOV/N.
Add new configuration options to dc1394 cameras for features mode and trigger options

Past:
dc1394 had not implemented the options to set manual or auto mode in camera features
dc1394 had not implemented the options for external trigger (hardware or software)

New:
- Add new fields to TCaptureOptions_dc1394
- Update camera_1394.ini for new parameters
- Update CCameraSensor.h to show full information on dc1394 parameters
- Add code to set features modes in CImageGrabber_dc1394::changeCaptureOptions (#define has been used to improve code legibility and length)
- Add code to set trigger options in CImageGrabber_dc1394 constructor
- Add header and code in CImageGrabber_dc1394::setSoftwareTriggerLevel for setting camera software trigger level from outside class
- Add header and code in CCameraSensor::setSoftwareTriggerLevel to enable Software trigger from main program

- Minor fix in CImageGrabber_dc1394 constructor (double checking video validity)
FIX: CDisplayWindow3D didn't implement get/set FOV
Minor fixes to:
- CCameraSensor description
- camera_1394.ini
- CImageGrabber_dc1394 TODO
Merge pull request #70 from jesusbriales/dc1394ModesTrigger

Dc1394 modes trigger