Merge branch '19-building-a-new-visual-odometry-system' into 22-adapt-to-core-cmakelists-txt-refactor

Resolve "Adapt to const nonconst new API"

Closes #20

See merge request !30

- reduce redundancy of names
  - eliminate "params" from names
  - eliminate redundant parts
- eliminate trailing underscore "_", not recommended in structs.

Merge branch '19-building-a-new-visual-odometry-system' of https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/vision into 19-building-a-new-visual-odometry-system

Merge branch '19-building-a-new-visual-odometry-system' of ssh://gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/vision into 19-building-a-new-visual-odometry-system

Merge remote-tracking branch 'origin/19-building-a-new-visual-odometry-system' into 19-building-a-new-visual-odometry-system

Merge branch '19-building-a-new-visual-odometry-system' of https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/vision into 19-building-a-new-visual-odometry-system