v0.4.0

Added

• Internal geometric solvers and RANSAC

Changed

• Undistorted images, masks and depthmaps are now under the undistorted folder. Use the bin/migrate_undistort.sh script to port old datasets to the new folder structure.
• Removed dependency on opengv
• Restructured c++ code

Improved

• Undistorting 16bit images now produces 16bit undistorted images. @pierotofy
• Fix bug on multiple reconstruction alignment. @linusmartensson