v2.0

In this implementation, the GTSAM functions have been abstracted as a MATLAB class "@VisSlamBackend" and the different functions of code have been split up and neatly arranged so that it is easy for the user to read the code.

Vanilla Implementation

In this version, I call the functions in GTSAM package directly and don't make any abstractions on the package to make it suitable for my application. I also arranged all the subfunctions into the same "SLAMusingGTSAM.m" file.