--Remove unused/superfluous dependency, Sophus

[jturner65]

Motivation and Context

This PR gets rid of a superfluous dependency, Sophus, which was accessed only in 1 place, building a Special Euclidean group transform (translate and rotate but no reflection) for Replica semantic object bounding boxes. The calc was easily replaced using Eigen Isometry transforms. A test was added to ReplicaSceneTest to verify that the results using Isometries are approximately the same result as what Sophus was giving us.

How Has This Been Tested

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.
• I have completed my CLA (see CONTRIBUTING)
• I have added tests to cover my changes.
• All new and existing tests passed.