Proper dual variable step implemented
Proper dual variable step implemented

Change-Id: Ice7cca5a8da5ed9adb4c7e79319c4e8464fe59b2

zhanshenman/TheiaSfM,klemmster/TheiaSfM,klemmster/TheiaSfM,zhanshenman/TheiaSfM,mylxiaoyi/TheiaSfM,rajvishah/TheiaSfM,klemmster/TheiaSfM,mylxiaoyi/TheiaSfM,zhanshenman/TheiaSfM,klemmster/TheiaSfM,rajvishah/TheiaSfM,mylxiaoyi/TheiaSfM,rajvishah/TheiaSfM,rajvishah/TheiaSfM,whuaegeanse/TheiaSfM,mylxiaoyi/TheiaSfM,zhanshenman/TheiaSfM,whuaegeanse/TheiaSfM,whuaegeanse/TheiaSfM,zhanshenman/TheiaSfM,mylxiaoyi/TheiaSfM,klemmster/TheiaSfM,whuaegeanse/TheiaSfM