Draft: Resolve "Improve visual odometry"

Closes #24, Closes #26

assigned to @mederic_fourmy

added 3 commits

• fd5efdba - Refactor equalization
• edcb49b5 - Continue refactoring
• d1d5ba23 - More refactoring

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changed the description

added 2 commits

• 8cd162f0 - Add a break, some name changes and comments
• 61617f8c - [skip-ci] Implement new triangulation

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added 5 commits

• 9de1ed81 - gtest refactoring
• d7756a44 - [skip-ci] fix RANSAC bug + attempt at triangulation
• 751ebf6d - [skip-ci] Fix cmake include issue
• 9ed4e1a2 - [skip-ci] put back naive landmark init for the moment
• fbd21e9b - [skip-ci] fix another bug introduced in RANSAC

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added 2 commits

• a97c6d5d - remove cmake comment
• 5a7efea9 - Remove useless prints

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added 3 commits

• 3c5b8177 - gitignore
• 0e52b368 - include type
• d2541f88 - [skip ci]

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added 4 commits

• 7e5f7f13 - Trying cheirality check
• 36e65c0d - Fix visual odom gtest, remove dumb rank test
• d638c952 - Merge branch '24-improve-visual-system' of...
• 3066aa55 - [skip-ci] Minor comment added

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added 7 commits

• 3066aa55...32dec670 - 3 commits from branch devel
• 7ba1c5a8 - Merge branch 'devel' into 24-improve-visual-system
• 0fc2e9f3 - delete all dead tracks in postProcess + other minor adjustments
• d88ade8e - [skip-ci] figure out a proper way to relate landmarks to tracks/features
• 45567edc - Remove print and add comment

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added 2 commits

• 96894090 - Use eigen to cv converter for intrinsic matrix
• 4de746cf - Remove setParams() from API

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