fixed some bugs in init_data_cost on first level (added non-reduction version for first level)
  optimized compute_data_cost like init_data_cost (used reduction scheme)
  avoid temp matrix

some refactoring of StereoBeliefPropagation.

Added documentation for VOC dataset interface, bag-of-words and other new object recognition tools (GSoC 2010)

some refactoring
added gpu module to compilation

get free memory function

replaced detector/descriptor evaluation functions from test to features2d; modified VectorDescriptorMatch constructor; removed commented calonder descriptor implementation

added GridAdaptedFeatureDetector, PyramidAdaptedFeatureDetector and funcs to draw keypoints and matches

Qt: Now OpenGL rendering is ok

fixed "undefined cvCreateCameraCapture_V4L" linker errors on some linux distros (thanks to miguelinux for the patch)

Qt compilation pb with OpenGL flags fixed

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