Add Essential Matrix Optimization #816
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Very promising results on South Building Without E Optimization
With E Optimization
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Better results across the board
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Add essential matrix optimization similar to what's presented in this paper: https://openaccess.thecvf.com/content_iccv_2015/papers/Sweeney_Optimizing_the_Viewing_ICCV_2015_paper.pdf.
This is what's also used by GLOMAP.