Added classes to process Trihedron data gathering and optimization

Functionalities in CTrihedronOptimization
- Set parameters for optimization
- Stack new observations
- Filter set of observations with RANSAC
- Implement functions for Rotation optimization (FErr, FJac and FWeights)
- Methods for optimization (W and NW)
- Implement derivative of optimization function R = F(data)
- TODO: Plot error and weights for a R

In CTrihedron getCorrespondence is modified to return object of class CTrihedronObservation

Updated main_Simulation3 for new uses
Added part of functions for translation optimization
New method for translation RANSAC (using linear solution) [with TODOs]

TODO: Check the degeneracy function and the threshold (to avoid too many trials)
Added RANSAC parameters for translation in CTrihedronOptimization
New Rotation optimization function in which only diagonal of weights matrix are used
Change to Translation RANSAC threshold (to get less trials)

Now det(N)<1e-3 is used
New parameter added in rig.ini and main_Simulation3: LPattern

Added parameter to control the size of patterns

TODO: Adapt camera projection to crop in FOV
Minor changes in main_Simulation3
Merge branch 'zhang'

Conflicts:
	Simulation/main_Simulation3.m
Changes in main_Simulation3
Merge branch 'master' of https://github.com/jesusbriales/corner-calib

Conflicts:
	Simulation/main_Simulation3.m
Added new fields for control of maxIters in CTrihedronOptimization

- Verbose is now controlled in RANSAC and LM through obj.debug_level
- Added .ini file for external control of parameters
- Updated main_Simulation3 to define CTrihedronOptimization with .ini parameters
Changes in Kwak's algorithm, reshaping the error function.