cudev is used for new device layer

This reverts commit fba72cb6, reversing
changes made to 02131ffb.

Fixed issues: #2737 #2848

- fixed printCudaDeviceInfo for new CC
- fixed some compilation errors and warnings
- removed unset command from CMake script
- removed unused std imports

fixed BFM warning ("cannot tell what pointer points to")

added assertion after all kernels calls

module reorganization: added folder with pure device functions, cuda_shared.hpp renamed to internal_shared.hpp

some refactoring of StereoBeliefPropagation.

get free memory function