add xfeat+lighterglue and pairs from sequential

[pablovela5620]

Its been a little while since this PR got opened and I was hoping we could bring sequential matching!
#175

added exponential matching + loop closure using retrival based on this https://gitlab.ethz.ch/z-ricityslam/hloc_fork

I tested with South Building dataset since its sort of sequential (to make sure the loop closure worked).
Here is a video of the reconstruction + pairs generated. sequential matcher lead to a significant reduction in pairs created and lead to a good speedup in reconstruction!

Matching Type	Number of Pairs Generated	Reconstruction Time
Exhaustive Matching	8000	20 minutes
Vocabulary Tree Matching	6396	14 minutes
Sequential w/ Loop Closure	1543	9 minutes

sequential-reconstruction-2024-12-04_12.07.41.mp4

sequentail-matches-av1.mp4

I also included xfeat feature detector + lighterglue matcher from the great work over at https://github.com/verlab/accelerated_features

@sarlinpe let me know what I can do to help get this merged!