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Extend operator* for Sophus types (#172)

* Extend Sophus operator* to allow for mixture of any compatible types.

This extension is particularly useful for allowing mixtures of
ceres::Jet types and doubles, but also allows Map and concrete types
to be multiplied together seamlessly.

* Extend operator* to homogeneous points.

Create a specific operator* for applying homogeneous point transformation.
This also requires a few changes to the build to update Eigen's CI version
to > 3.3 for Windows, and to required Eigen > 3.3.0 for building Sophus due
to the use of Eigen::ScalarBinaryOpTraits.

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