OpenCV

There's some problems in integrating CUDA SURF with ROS, so I am not shifting to OpenCV GPU support. The libopencv2.3 was not compiled with CUDA support thus need to recompile OpenCV 2.3 with CUDA flag.

Now mainly testing offline as ROS provides rosbag to log and play data for realtime processing and debugging. The CUDA SURF needs roughly 0.02s for SURF detection and matching, while needs 0.08s for image loading and writing on 640x480 RGB8 images.

Continuous SURF detection and matching