Reads and writes dataset files compatible with KITTI format.

This means a kitti dataset directory can be read in as a VioDataset (though only part of the information is currently used). Currently this includes

• One camera (camera 00)
• Rectified camera calibration parameters (not distortion parameters)
• Camera to IMU extrinsic calibration
• GPS and a few IMU values
• landmark ground truth (extra, custom format)
• pre-processed feature measurements (extra, custom format)

Pre-Merge Checklist:

• Code is documented in doxygen format
• Code has automated tests
• Zero compiler warnings
• Formatted with clang-format