srba: Added relative 3D case (work in progress)
Progress with srba 3d rel.
graph-slam: Also support g2o map format
FlyCapture driver: Fix incorrect timestamp
Warning condition always true (Fixes #33)
Robust kernel templates

- Robust kernel templates moved from mrpt::vision to mrpt::math:
- Added unit tests for robust kernels.
fixes for last RobustKernel commit
CSerialPort const-correctness
Progress SE(3) jacobs
Jacobian for missing case done

(Need to debug!)
Partial fix to Jacobs (now it converges)
More SE(3) methods & unit tests
Merge remote-tracking branch 'origin/srba-rel-3d'

Conflicts:
	doc/doxygen-pages/changeLog_doc.h
fixed GCC build errors
Merge remote-tracking branch 'upstream/master'