added first version of the new DepthMap base type

this type can represent range data from different kind of source sensors
DepthMap: remove vertical and horizontal rotation speeds and min and max distances
DepthMap: improved some namings
DepthMap: refactored the computation of the local transformations
and added a LUT for single unit axis rotations
DepthMap: added unit tests for planar projection
Viz: added vizkit plugin for depth map base type
Merge pull request #20 from saarnold/new_depth_map_type

First version of the new DepthMap base type