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Feature/bundle adjustment

Joan Solà Ortega requested to merge feature/bundle_adjustment into devel

We add a full bundle adjustment implementation.

Landmarks are homogeneous 3D points.

Factors are a new class called FactorPixelHP, which associates a pixel to one homogeneous point (HP).

The processor uses OpenCV with detector/descriptor/matcher configurable via YAML.

Edited by Joan Solà Ortega

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