Add 'using' directive in linux TrackIRScaffold to resolve build failure
Revise the way rotation matrix is calculated for linux TrackIRScaffold.

The developer of linuxtrack driver use:

glLoadIdentity();
glRotated(xRot, 1.0, 0.0, 0.0);
glRotated(yRot, 0.0, 1.0, 0.0);
glRotated(zRot, 0.0, 0.0, 1.0);
glTranslated(xTrans, yTrans, zTrans);

to do transformation.

According to OpenGL's Wiki at:
https://www.opengl.org/wiki/Viewing_and_Transformations#
How_do_I_transform_my_objects_around_a_fixed_coordinate_system_
rather_than_the_object.27s_local_coordinate_system.3F

The above rotations are intrinsic/local.
Thus, to make up a rotation matrix, we should use:

Matrix33d rotationX = makeRotationMatrix(-roll, UnitX()));
Matrix33d rotationY = makeRotationMatrix(yaw,   UnitY()));
Matrix33d rotationZ = makeRotationMatrix(pitch, UnitZ()));
Matrix33d orientation = rotationX * rotationY * rotationZ;