Cleaning up in maplab common

[smauq]

Cleaning up a bunch of headers and functionalities that were either never included or over-engineered for their purpose. This should reduce compile times and increase maintainability. Some files could still use trimming, but this PR removes the most egregious ones. Other small side benefits:

• Removed one more dependency (benchmark_catkin) that was only used in one test that didn't run
• Tightened a bit the setting on the BRISK/FREAK to make nearest neighbor querying a bit more consistent (lc_knn_epsilon from 3.0 -> 2.0)

[ethzasl-jenkins]

Test FAILed.

[ethzasl-jenkins]

Test FAILed.

[ethzasl-jenkins]

Test PASSed.