Stanley Brown issues

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                                            Stanley Brown

Figure out how to set intial depth covariance to a good initial value (cper)

Removed todo from line 113 in MapPoint.h //std::numeric_limits::max(); //todo: (adas) figure out how to set initial depth covariance to a good initial value.

Include rotational entropies and threshold type

Todo removed from line 516 in Tracker.cpp todo: include rotational entropies as well, plus options for the threshold type (ie just translation, rotation, both, etc)