Replace essential matrix decomposition with more accurate method
Replace essential matrix decomposition with more accurate method

Change-Id: I75eefa8540949c2f1156d3287083eb5b0e682e14

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