Fixed bug in FWeights_Orthogonality

There is an special case when observation is empty (due to generation process or to RANSAC filtering) in which W{...} element should be directly set to empty
Merge branch 'master' of https://github.com/jesusbriales/corner-calib

Merge last Ruben changes
Fixed bad index in A_q computation

In input covariance A_l1l2 the order of idx(1) and idx(2) was changed
Fixed cam_A_reprN to use propagation with uncertainty of normalization
Add control of optimization thresholds (in error and param changes) from .ini

- Added properties to CTrihedronOptimization
- Changed call of LM_Man_optim in optimization methods
- Added arguments to call of CTrihedronOptimization in main_Jesus
- Added fields to optim_config.ini
Changes to CCorner/optim and main_Jesus to check convergence
Updating CComparisonNoise