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[Estimation][VO/VIO] refactor the process of KF based estimation with visual odometry #250

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[Estimation][VO/VIO] refactor the process of KF based estimation with visual odometry

[Estimation][VO/VIO] refactor the process of KF based estimation with visual odometry #250

Run time

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Job Run time
ros_build_test (kinetic, ubuntu:xenial)
37m 1s
ros_build_test (melodic, ubuntu:bionic)
40m 53s
ros_build_test (noetic, ubuntu:focal)
46m 15s
2h 4m 9s