Merge branch 'devel' into vision_utils

Conflicts:
	include/base/constraint/constraint_autodiff.h
	include/base/constraint/constraint_autodiff_distance_3D.h
	include/base/constraint/constraint_autodiff_trifocal.h
	include/base/constraint/constraint_pose_3D.h
	include/base/processor/processor_tracker_feature.h
	include/base/processor/processor_tracker_feature_corner.h
	include/base/processor/processor_tracker_feature_dummy.h
	include/base/processor/processor_tracker_feature_image.h
	include/base/processor/processor_tracker_feature_trifocal.h
	include/base/processor/processor_tracker_landmark.h
	include/base/processor/processor_tracker_landmark_corner.h
	include/base/processor/processor_tracker_landmark_dummy.h
	include/base/processor/processor_tracker_landmark_image.h
	include/base/processor/processor_tracker_landmark_polyline.h
	include/base/rotations.h
	include/base/track_matrix.h
	src/examples/processor_imu.yaml
	src/examples/processor_imu_no_vote.yaml
	src/examples/processor_imu_t1.yaml
	src/examples/processor_imu_t6.yaml
	src/processor/processor_tracker.cpp
	src/processor/processor_tracker_feature_corner.cpp
	src/processor/processor_tracker_feature_dummy.cpp
	src/processor/processor_tracker_feature_image.cpp
	src/processor/processor_tracker_feature_trifocal.cpp
	src/processor/processor_tracker_landmark_corner.cpp
	src/processor/processor_tracker_landmark_dummy.cpp
	src/processor/processor_tracker_landmark_image.cpp
	src/track_matrix.cpp
	src/yaml/processor_IMU_yaml.cpp
	src/yaml/processor_tracker_feature_trifocal_yaml.cpp
	test/gtest_constraint_autodiff_trifocal.cpp
	test/gtest_processor_tracker_feature_trifocal.cpp