SkeletonFitting move_goal now moves the position at random directions, bigger as the
attempts fails. Since it is random in some frames is fixes a position but on a new run
it does not.
SkeletonFitting, move goal now uses increments to produce always de same results.
CameraCalibrator, fix error when initializing cam_array
MultiCamViewer added variable to control wheter the bounding box is shown.

Also fixed error on bounding box initialization that couses a failure in
showing all the scene when manual_origin_set was true.
Add KDL library to check its inverse kinematics solver
SkeletonFitting, encapsulated all fitting methods in fit_skeleton_cloud.

This leads to code simplification in SkeletonController
Added class IKSolver.

This will simplify SkeletonFitting and encapsulate the method use to solve
the inverse kinematics problem.
IKSolver works with one bone on origin
IKSolver know works with chains of any length.

Also it saves the previous position to produce smooth transformations.
Moved Extras.cpp and .h code to BVHFormat.

Is code was poluting the global namespace with some global variables and
causing the KDL library compile errors.
IKSolver now works with bones that are not in the origin.

In SkeletonController the final position is transformed to the appropiate
coordinate system. Added some code to try and add an segment that does this
to get a simpler code, still a wip.
IKSolver added method start_chain with matrix offset.

Addind a extra segment still does not work, using result translation instead.
IKSolver now uses LMA inverse solver.
SkeletonController, added solver success check, deleted previous IKAN code
IKSolver, manually check result to fix some errors.

The iksolver would return sometimes a fail flag when it actually found the
solution.
SkeletonController, changed ik_chain to start with root node.

Insertion is less eficient but code in much more clear.
IKSolver changed argument position in solve_chain
IKSolver fix error with solving with one bone.

New LMA solver fails with one bone and some other times, if it fails
then try with nr solver
IKSolver,simplified solve_chain code.

Now it is divided in two methods solve_chain_1_segment and
solve_chain_several_segments, it is faster and code gets simpler.
Skeletoncontroller fix inverse kinematics with one bone.

With one bone inverse kinematics failed, so added code to use the
result nevertheless