Templatizing the problems

[AlbertoJaenal]

Hello!

First, thanks for this amazing repo! I have been working a while with it and I am quite happy with everything.
However, one of the main problems that I found when implementing new minimal/non-minimal solvers is that you need to add a dedicated int findProblem() in the src/gcransac_python.cpp, and if you want to test 6 or 7 variants... Well, you easily end up with a script with 5-10k lines, and working there is a little bit clumsy.

So, I propose to templatize the problems into a smaller bunch (see include/problem_instances/*.hpp), so that the problems can be directly instantiated in the bindings.cpp, what makes sense, at least for me.

I just merged all the problems in the most straightforward way, and had to include some booleans in the functions for just some extra processing, but I think this can be improved in a lot of ways. This is just a first step.

For example, adding the P1ACQuerySolver, as in the commit 15e8b1b would only consist in:

1. Adding the solver in the include/estimators/solver_acp1p_query.h
2. Adding the typedef declaration in the include/types.h
   
3. Instantiating the problem in the bindings.cpp
   

Hope you find it useful!!