Add visualization of more internal matrices

Besides visualizing the Jacobian and residuals Jr this adds visualization of:

• Jr after QR factorization: Jr_QR
• Marginalization Jr: Jr_m
• Marginalization Jr_QR: Jr_m_QR
• Hessian: Hb
• Marginalization Hb: Hb_m

Remaining TODO:

• show two block panels at the same time with different slider selectors EDIT: won't do for now
• different ui options that enable or disable the different matrices selectively
• remove inheritance to see what places I could unify. EDIT: won't do for now
• put keyframe identifier in the visualizations
• subpanel: the UI is starting to get quite big, let's modularize with subpanels EDIT: won't do for now