Add Essential Matrix Optimization #2523

Job	Run time
Benchmark (sift, door-12, 15, JPG, test_data, olsson-loader, 1296, true)	4m 39s
Benchmark (lightglue, door-12, 15, JPG, test_data, olsson-loader, 1296, true)	4m 49s
Benchmark (sift, skydio-8, 15, jpg, wget, colmap-loader, 760, true)	3m 16s
Benchmark (lightglue, skydio-8, 15, jpg, wget, colmap-loader, 760, true)	3m 8s
Benchmark (sift, skydio-32, 15, jpg, wget, colmap-loader, 760, true)	3m 40s
Benchmark (lightglue, skydio-32, 15, jpg, wget, colmap-loader, 760, true)	4m 19s
Benchmark (sift, palace-fine-arts-281, 15, jpg, wget, olsson-loader, 320, true)	30m 40s
Benchmark (lightglue, notre-dame-20, 15, jpg, wget, colmap-loader, 760, false)	3m 35s
Benchmark (sift, 2011205_rc3, 15, png, wget, astrovision, 1024, true)	8m 59s
Benchmark (lightglue, 2011205_rc3, 15, png, wget, astrovision, 1024, true)	37m 1s
Benchmark (sift, gerrard-hall-100, 15, jpg, wget, colmap-loader, 760, true)	8m 10s
Benchmark (lightglue, gerrard-hall-100, 15, jpg, wget, colmap-loader, 760, true)	9m 23s
Benchmark (sift, south-building-128, 15, jpg, wget, colmap-loader, 760, true)	43m 24s
Benchmark (lightglue, south-building-128, 15, jpg, wget, colmap-loader, 760, true)	2h 41m 0s
	5h 26m 3s

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