Function lnormalize for normalizing homogeneous lines
Add RGB config file for Freiburg3 datasets
Update CFrame to construct from single full file name (for images)
Adds to CSegment2D: transform and get.d

- transform is a muti-option method to transform
the 2D segment points by some kind of 2D perspectivity
- get.d allows to get the segment length
Add freezeColors to Tools
Add CGtracker class for tracking of general groups of segments

Current methods:
- load image and/or (previous computed) segments
- allows user hint (from scratch or on specific segments)
-- elementary operation hintSegment
- elementary optimSeg by SVD (some work to do yet, currently
just window creation and weighted SVD)
-- auxiliar methods such as filtering (mag and dir), window, plot...
- two high-level updating tools: IAT_update (Image Alignment) and SVD_update
Class for loading all data related to images in certain dataset
Test script for Freiburg cabinet dataset with OP3A odometry