Make the camera center perturbation consistent.
Make the camera center perturbation consistent.

The camera perturbation is now done so that after
the perturbation, the translation vector can still
be transformed back into the perturbed camera center.

Change-Id: Ib9e854e2456b2b33669724f348bb37c2d3b40dcd

ysonggit/ceres-solver,whuaegeanse/ceres-solver,timfel/ceres-bin,DougFirErickson/ceres-solver,arnaudgelas/ceres-solver,kartikkumar/ceres-solver,entylop/ceres-solver,kartikkumar/ceres-solver,whuaegeanse/ceres-solver,arnaudgelas/ceres-solver,entylop/ceres-solver,kartikkumar/ceres-solver,ysonggit/ceres-solver,ikoruk/ceres-solver,stonier/ceres_solver,whuaegeanse/ceres-solver,jmwalls/ceres-solver-fork,ikoruk/ceres-solver,arnaudgelas/ceres-solver,DougFirErickson/ceres-solver,timfel/ceres-bin,jmwalls/ceres-solver-fork,jmwalls/ceres-solver-fork,jmwalls/ceres-solver-fork,ikoruk/ceres-solver,kartikkumar/ceres-solver,stonier/ceres_solver,DougFirErickson/ceres-solver,ikoruk/ceres-solver,ysonggit/ceres-solver,stonier/ceres_solver,entylop/ceres-solver,timfel/ceres-bin,stonier/ceres_solver,ysonggit/ceres-solver,timfel/ceres-bin,DougFirErickson/ceres-solver,whuaegeanse/ceres-solver,ikoruk/ceres-solver,entylop/ceres-solver