removed optim module; moved its functionality to core and photo modules; moved drawing functions from core to imgproc. Removed FilterEngine etc. from public API

Now use cleaner approach:

#pragma warning( push )
#pragma warning( disable: ThatWarning )
//code with ThatWarning here
#pragma warning( pop )

1. someMatrix.data -> someMatrix.prt()
2. someMatrix.data + someMatrix.step * lineIndex -> someMatrix.ptr( lineIndex )
3. (SomeType*) someMatrix.data -> someMatrix.ptr<SomeType>()
4. someMatrix.data -> !someMatrix.empty() ( or !someMatrix.data -> someMatrix.empty() ) in logical expressions

Porting the [PR 2970](https://github.com/Itseez/opencv/pull/2970) To the new InputOutputArray type

According to opencl 1.2 spec 5.4.2:
  enqueues a command to unmap a previously mapped region of a memory object.
  ...
  CL_INVALID_VALUE if mapped_ptr is not a valid pointer returned by
  clEnqueueMapBuffer, or clEnqueueMapImage for memobj.

So if the u->data is not from a clEnqueueMapBuffer call, we should not
call clEnqueueUnmapMemObject() unmap it. With this patch, the cases
./opencv_test_video --gtest_filter=OCL_Video/FarnebackOpticalFlow.Mat/*
could work well with beignet 0.9.1, Otherwise, it will get a
CL_INVALID_VALUE at the clEnqueueUnmapMemObject().
Signed-off-by: Zhigang Gong <zhigang.gong@intel.com>

This helps users who compile their code with -Wuseless-cast.

I propose forEach method for cv::Mat and cv::Mat_.
This is solution for the overhead of MatIterator_<_Tp>.

I runs a test that micro opecode runs all over the pixel of cv::Mat_<cv::Point3_<uint8_t>>.
And this implementation 40% faster than the simple pointer, 80% faster than iterator.
With OpenMP, 70% faster than simple pointer, 95% faster than iterator (Core i7 920).

Above all, code is more readable.

My test code is here.
    https://gist.github.com/kazuki-ma/8285876

Thanks.

Add MatlabFormatter for matlab style output.
See http://code.opencv.org/issues/2789