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Redesign track kf

Joan Solà Ortega requested to merge redesign-track_kf into devel

We will create tracks on keyframes on demand. We will remove all structures explicitly storing tracks on keyframes.

In particular, TrackMatrix::tracks_kf_ needs to disappear. Also the related API.

The only remaining fcn is tracksAtKeyframes() which is reimplemented to assemble track_kf from track on demand.

Edited by Joan Solà Ortega

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