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Minor fixes

Nicolas Cadart requested to merge fix/minorFixes into master
  • Fix methods const correctness.
  • Move WithinFrameTrajMode and MatchingMode enums inside Slam private section to avoid polluting global scope.
  • Add Slam::BlobPointRejectionMapping.
  • Fix printing issues and add Ceres problem building duration.
  • Reorder code for better readibility.

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