Vision devel

Incorporate the processor and constraint for the trifocal tensor.

These require an external library, vision_utils, developed by asantamaria at IRI.

Follow wolf's README for instructions on acquiring and installing vision_utils.

src/constraints/CMakeLists.txt

@@ -3,6 +3,8 @@ INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR})
 # Forward var to parent scope
 
 SET(HDRS_CONSTRAINT ${HDRS_CONSTRAINT}
+  ${CMAKE_CURRENT_SOURCE_DIR}/constraint_autodiff_distance_3D.h
+  ${CMAKE_CURRENT_SOURCE_DIR}/constraint_autodiff_trifocal.h
   ${CMAKE_CURRENT_SOURCE_DIR}/constraint_diff_drive.h 
   PARENT_SCOPE)