Share SolveEpipolarConstraintMatrix between eight-point F and E - #4721
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Add SolveEpipolarConstraintMatrix to a new solvers/utils library and use it in the eight-point fundamental and essential estimators, replacing two verbatim copies of the QR/SVD nullspace plus rank-2 enforcement. Direct unit test pins exact recovery, rank 2, and both N==8 and N>8 paths.
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Add
SolveEpipolarConstraintMatrixandRaysFromCamRaysWithJacto a new solvers/utils library. The former replaces two verbatim copies of the QR/SVD nullspace plus rank-2 enforcement in the eight-point fundamental and essential estimators; the latter replaces the file-localUnpackCamRaysWithJachelper.Part 2/5 of the solver-simplify stack (stacked on #4720).
Test Plan: