Integration of depth estimation

[mihaibujanca]

• Add case for flame library
• Add depth estimation metric
• Add Sophus as a dependency
• Style improvements
• Added visualisation for pixelformat::D_I_16 to view depth frames

[matthewspear]

Tried to build and run code at 84e56da

To reproduce:

make deps
make flame
make slambench APPS=flame

On the last command error occured:

-- Generation of flame-library : Activated
OpenCV LIBS: opencv_coreopencv_highguiopencv_imgprocopencv_imgcodecs
OpenCV Includes: /usr/include/usr/include/opencv
PCL INCUDES: 
-- Load version original of flame.
CMake Error at benchmarks/CMakeLists.txt:80 (ADD_SUBDIRECTORY):
  The binary directory

    /home/mspear/slambench2/build/benchmarks/flame/src/original

  is already used to build a source directory.  It cannot be used to build
  source directory

    /home/mspear/slambench2/benchmarks/flame/src/original

  Specify a unique binary directory name.
Call Stack (most recent call first):
  benchmarks/flame/CMakeLists.txt:2 (explore_implementations)


-- Configuring incomplete, errors occurred!
See also "/home/mspear/slambench2/build/CMakeFiles/CMakeOutput.log".
See also "/home/mspear/slambench2/build/CMakeFiles/CMakeError.log".
Makefile:180: recipe for target 'build/Makefile' failed
make: *** [build/Makefile] Error 1

Provided standard out and error:
stderr.txt
stdout.txt

[matthewspear]

Ha, I spotted that too :)