Fundamental point transfer and Trifocal point transfer in image triplets

[johnwlambert]

Contains what would eventually be two subclasses of ViewGraphOptimizer -- with F matrices, or with trifocal tensors

1. TrifocalPointTransferOptimizer. Transfer points to a 3rd image, using trifocal tensors.

2. EpipolarPointTransferOptimizer. Transfer points to a 3rd image, using intersection of epipolar lines (via Fundamental matrices).

For example, in a 3rd image below, we see the epipolar lines that correspond to matching point in image 1, and in image2:

Image 1, Image 2, Image 3:

Line intersections: