added the computation of the error vectors, jacobian and place holders for normal gradients
added the computation of the error vectors, jacobian and place holders for normal gradients

AveRapina/visionworkbench,fengzhyuan/visionworkbench,fengzhyuan/visionworkbench,fengzhyuan/visionworkbench,fengzhyuan/visionworkbench,AveRapina/visionworkbench,fengzhyuan/visionworkbench,AveRapina/visionworkbench,DougFirErickson/visionworkbench,DougFirErickson/visionworkbench,fengzhyuan/visionworkbench,AveRapina/visionworkbench,DougFirErickson/visionworkbench,DougFirErickson/visionworkbench,DougFirErickson/visionworkbench,fengzhyuan/visionworkbench,AveRapina/visionworkbench,DougFirErickson/visionworkbench,AveRapina/visionworkbench