Update main_Simulation3.m
Merge branch 'zhang' of https://github.com/jesusbriales/corner-calib

Get Zhang from Ruben
Added CTrihedronOptimization method for plotting rotation cost function near GT
Set lambda increment in LM function as a control parameter
Begin of make projected points in CSimCamera lie inside FOV
Added new debug level in LM_Man_optim for storing param and errNorm information for each step
main_Simulation for my tests
Automatic merge
Merge branch 'zhang' of https://github.com/jesusbriales/corner-calib

Conflicts:
	Simulation/main_Simulation3.m

Automatic merging at home ?
Merge branch 'master' of https://github.com/jesusbriales/corner-calib

Conflicts:
	Simulation/main_Simulation3.m

No idea
Fixed computation of covariance of intersection points in scans

- Refactor of variables names (direction of line is v)
- Computation of covariance of homogeneous lines from normal and distance has been solved
- Covariance of 2D intersection points is obtained with Forstner and Clarke indications

TODO: Check covariances with Monte Carlo
Compute covariance of image lines

- Compute jacobian of 3 lines in image wrt co variables
- Compute uncertainty with propagation
Function calls updated for Corner Observation stacking in CTrihedron
Added new fields to CTrihedronOptimization and fixes

- New variable cam_reprN for reprojection planes normals (related to cam_L)
- FWeights_Orthogonality has been moved to independen file .m
- All translation-related functions now receive an explicit R_c_s input (for clarity)
- Added err and jac functions for translation in 3D
- Added headers for optimization of translation
- Methods to display the number of inliers collected
More adds related to previous commit
Change of threshold for t RANSAC
New main for compatibility issues (Jesus)
Change t RANSAC function
Merge branch 'master' of https://github.com/jesusbriales/corner-calib
Zhang and Vasconcelos functions