Allow depth->RGB camera transform input
Added confidence file I/O
Better wall-closing algorithm

Switch from using a greedy approach to a globally shortest-cycle
Small tweaks to wallfinding
Output improvements
Use confidence in reprojection
Output ply file of raw reprojection data
Added option to show all candidates
Made graph traversal in wallfinding directional
Merge branch 'wallfinding' into realinput

Conflicts:
	inverse_render/invrender.cpp
Improved light clustering and make textures optional
Added directionality to wallfinder
Added ply file output
Improved floor/ceiling finding
Basic pbrt file output

No lights or floor textures yet
Floor Texture Output

Untested
Light output
Merge branch 'wallfinding' into rerender
Allow exchanging floor and ceiling
Added basic brute force nnls solver