Relative landmarks Support #1859
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Functions to create cost functions were in the BundleAdjustmentCeres.cpp as local functions. Moved to their respective cost function struct as static factory methods (Reason: code lisibility).
A new Cost Function to constraint the depth of a point to a given value is added
A new parameter to landmarks is added "referenceViewId". For a landmark, if this parameter is not UndefinedIndexT, this is considered as the reference view index for this landmark. In this case, the landmark coordinates will be considered to be relative to the reference view geometric frame.
If a landmark is relative, then its coordinates are stored as [X/Z, Y/Z, 1.0/Z] to improve convergence of bundle adjustment.
Similarity3D class is removed as it is never used in the code base.