- VisOdomDualTrackPnP can produce a fatal error
- Broke up SURF and SURF Color in descriptor factory
- Allowed KLTConfig to trickle down through trackers factories
- Added change input image size checks to stereo visual odometry unit test
- Simplified some factories which take in KLT pyramid parameters
- Fixed failing tests and compilor errors
- VisOdomPixelDpethPnP now computes a description instead of extracting it
  * Deleted ExtractTrackDescription