Fix camera pose in the projection factors
Accumulate ploted frames in a variable M to be saved later as a movie
Add switch options to select which factors to use in the graph
Update ReadRTSLAMLog function to also read vel, abias, wbias and respective covariances
Change switches to use only fake gps and projection factors
Set initial values for velocity and bias nodes from RTSLAM log
Add a lmk map to deal with the case some lmk ids are not seen

This is needed if:
- the first RTSLAM data is not the first in the log
- if we're using keyframes
- if the lmk ids do not increase sequentially
Initial noise (from first factors) are set from RTSLAM log
Start integration of IMU data using last bias from RT-SLAM instead of last estimated one

WARNING: Adding estimated values to factors may lead to use information twice