Optimal Triangulation

[Parskatt]

🚀 Feature

Currently kornia supports linear triangulation, adding optimal triangulation would make kornia more viable for triangulation of points from correspondences.

Motivation

Optimal triangulation is better than non-optimal triangulation.

Additional context

Heres the colmap implementation:
https://github.com/colmap/colmap/blob/fb3fa6a6962f8fee299d03b895cac2e1dd052104/src/colmap/geometry/triangulation.cc#L92

I might adapt this to kornia and submit PR

[Parskatt]

Basically only need to do this: https://github.com/colmap/colmap/blob/main/src/colmap/geometry/essential_matrix.cc#L97

[edgarriba]

@Parskatt this is definitely a good feature to add. Feel to add any of these methods, all seem useful