Make cam_pos_solver_MDS_MAP, change calling interface.

Changed the calling format such that other camera position solvers
can be called in the same way. Don't need fully connected list of
camera distances, etc.
cam_pos_solver_MDS_MAP: Force complex output to real.
Add cam_pos_solver_SDP1...s, and caclulate_camera_positions_cost
Add cam_pos_solver_LM_nllsq and libs/LMFnlsq.
Fix params of cam_pos_solver... routines. Messy.
Woops! Add the LMFnlsq library path.
Make functions for generating fake cameras and test data.
Change camera relation theta2 so that it is to the ray from p2->p1
Change estimated relations variables a bit.
Change angle solver to work with incomplete estimate list.

The solver uses the angles from the theta-r-theta estimates to come
up with the best fit for all the camera angles. This update works
if we don't have the theta-r-theta estimate for every pairing.
Move angle solving to cam_angle_from_pos_solver.
Move rotation step, add reflection debug code.
Add reflection corrections, and calculate_camera_angles_cost.
Move solver into new function solve_cameras_extcal.
Fix unfinished cleanup in cam_pos_solver_SDP1_3plusanchors.
Merge branch 'master' of https://github.com/JudsonWilson/cs231a_proj1