Do loop closure to get better camera positions

[danielsanjosepro]

https://de.mathworks.com/help/vision/ug/monocular-visual-simultaneous-localization-and-mapping.html (also on notion)

Doing a loop closure, we can adapt the poses of the cameras and avoid drift. If we relate image 1 to image 26 for example.
Having some sort of potential closure neighbors would be nice. The sorting of the images should be able to give us potential closures @lufixSch @lole-elol