Add the BATA translation averaging factor with unit tests #1828
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The existing translation averaging factor used the cost function from 1dsfm.
Here we add the cost function from the Bilinear Angle Based Translation Averaging paper, which claims this cost be easier to optimize.
We add a new translation factor for this cost:
BilinearAngleTranslationFactor, and an option in the translation recovery class to use this factor instead of the default translation factor.