srba: Added relative 3D case (work in progress)
Progress with srba 3d rel.
graph-slam: Also support g2o map format
Progress SE(3) jacobs
Jacobian for missing case done

(Need to debug!)
Partial fix to Jacobs (now it converges)
More SE(3) methods & unit tests
Merge remote-tracking branch 'origin/srba-rel-3d'

Conflicts:
	doc/doxygen-pages/changeLog_doc.h