pcl_kinfu_app saves camera pose to csv file.

Added -save_pose option. Will save camera pose only if filename is given.

processPose takes a const reference instead of copying the Eigen object

check if stream is good before writing.
fixed a few style guide violations.
fixed a few style guide violations.
fixed example run in octave script
Merge pull request #553 from Breakthru/kinfu_camera_pose

pcl_kinfu_app saves camera pose to csv file.