G2O based parallel bundle adjustment
Formatting corrections
Merge branch 'parallel' into vlad_devel
fix CMake
delete csv files
add load_map_db and show_map_db helpers
refactor util
fix compilation
add ufk implementation for se3
spit rm_multi_mapper in 2 packages
fix compilation
add database saving test
add keypoints computation when adding keyframe
fix feature computation
fix keypoint test
moved messages and actions to db package
update workers
add new helper functions to util
add g2o optimization
fix optimization