RGBDSLAM Indigo support

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Hi to all,

Well after having some conversations with @FelixEndres, and since I need RGBDSlam working on ROS Indigo so to implement it in a Odroid running Ubuntu 13.10, I decided to try to make the migration of the source code to Indigo, which will certainly be useful to others to come.

Some of the initial problems wore corrected by downloading and compiling g2o and OpenCV-2.4.9 from source, so to rgbdslam can detect them and then use them. But then, I got some errors on the code that should be resolved by adapting the code to the OpenCV architecture, but I will need some help on those, since Felix is busy with is PhD and I need this to my MSc thesis. So a help from someone with knowledge on OpenCV functions and headers will be great.

So, when doing catkin_make on my ws I get the following list of errors:

[ 77%] [ 78%] [ 79%] [ 79%] Building CXX object rgbdslam_v2/CMakeFiles/rgbdslam.dir/src/openni_listener.o
Building CXX object rgbdslam_v2/CMakeFiles/rgbdslam.dir/src/node.o
Building CXX object rgbdslam_v2/CMakeFiles/rgbdslam.dir/src/misc.o
Building CXX object rgbdslam_v2/CMakeFiles/rgbdslam.dir/src/sift_gpu_wrapper.o
In file included from /home/nuno/AIMAVProject_ws/src/rgbdslam_v2/src/sift_gpu_wrapper.cpp:18:0:
/home/nuno/AIMAVProject_ws/src/rgbdslam_v2/src/sift_gpu_wrapper.h:49:40: error: ‘cv::vector’ has not been declared
  void detect(const cv::Mat& image, cv::vector<cv::KeyPoint>& keypoints, std::vector<float>& descriptors, const cv::Mat& mask = cv::Mat()) const;
                                        ^
/home/nuno/AIMAVProject_ws/src/rgbdslam_v2/src/sift_gpu_wrapper.h:49:46: error: expected ‘,’ or ‘...’ before ‘<’ token
  void detect(const cv::Mat& image, cv::vector<cv::KeyPoint>& keypoints, std::vector<float>& descriptors, const cv::Mat& mask = cv::Mat()) const;
                                              ^
/home/nuno/AIMAVProject_ws/src/rgbdslam_v2/src/sift_gpu_wrapper.cpp:108:55: error: ‘cv::vector’ has not been declared
 void SiftGPUWrapper::detect(const cv::Mat& image, cv::vector<cv::KeyPoint>& keypoints, std::vector<float>& descriptors, const Mat& mask) const {
                                                       ^
/home/nuno/AIMAVProject_ws/src/rgbdslam_v2/src/sift_gpu_wrapper.cpp:108:61: error: expected ‘,’ or ‘...’ before ‘<’ token
 void SiftGPUWrapper::detect(const cv::Mat& image, cv::vector<cv::KeyPoint>& keypoints, std::vector<float>& descriptors, const Mat& mask) const {
                                                             ^
/home/nuno/AIMAVProject_ws/src/rgbdslam_v2/src/sift_gpu_wrapper.cpp: In member function ‘void SiftGPUWrapper::detect(const cv::Mat&, int) const’:
/home/nuno/AIMAVProject_ws/src/rgbdslam_v2/src/sift_gpu_wrapper.cpp:111:9: error: ‘keypoints’ was not declared in this scope
         keypoints.clear();
         ^
/home/nuno/AIMAVProject_ws/src/rgbdslam_v2/src/sift_gpu_wrapper.cpp:133:9: error: ‘descriptors’ was not declared in this scope
         descriptors.resize(128 * num_features);
         ^
/home/nuno/AIMAVProject_ws/src/rgbdslam_v2/src/sift_gpu_wrapper.cpp:141:5: error: ‘keypoints’ was not declared in this scope
     keypoints.clear();
     ^
/home/nuno/AIMAVProject_ws/src/rgbdslam_v2/src/misc.cpp:370:40: error: ‘string’ does not name a type
 FeatureDetector* createDetector( const string& detectorType ) 
                                        ^
/home/nuno/AIMAVProject_ws/src/rgbdslam_v2/src/misc.cpp:370:48: error: ISO C++ forbids declaration of ‘detectorType’ with no type [-fpermissive]
 FeatureDetector* createDetector( const string& detectorType ) 
                                                ^
/home/nuno/AIMAVProject_ws/src/rgbdslam_v2/src/misc.cpp: In function ‘cv ...