Adds oriented contraint check to Homography RANSAC

[ducha-aiki]

Changes

Removes bad samples prior to model estimation to speed-up RANSAC.
References:
http://www.dia.fi.upm.es/~pcr/publications/jrtip2015.pdf - paper, formula (5)
OpenCV implementation: https://github.com/opencv/opencv/blob/4.x/modules/calib3d/src/usac/degeneracy.cpp#L88

Type of change

• 📚 Documentation Update
• 🧪 Tests Cases
• 🐞 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 not work as expected)
• 📝 This change requires a documentation update

Checklist

• My code follows the style guidelines of this project
• I have performed a self-review of my own code
• I have commented my code, particularly in hard-to-understand areas
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• Did you update CHANGELOG in case of a major change?

[edgarriba]

LGTM. Just docs things

[ducha-aiki]

Some timings (here is colab https://colab.research.google.com/drive/11vyYaL1yEnofFXjZNR5d40VtYVkZq3ZF?usp=sharing)

GPU Colab

Original kornia RANSAC: 629 ms

• switch to one-way error RANSAC for speed-up #1454: 502 ms
• switch to one-way error RANSAC for speed-up #1454 + this PR: 455 ms

CPU Colab:

Original kornia RANSAC: 2.14 s

• switch to one-way error RANSAC for speed-up #1454: 1.25 s
• switch to one-way error RANSAC for speed-up #1454 + this PR: 1.02 s