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Absolute orientation with the FOAM algorithm

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Efficient Absolute Orientation Solver

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The function computes the orientation and translation for the transformation between
two corresponding 3D point sets pi and qi so that they are related by qi = R*pi + t
Avoids costly matrix decompositions (e.g. SVD), implementing the following paper:
M. Lourakis: "An Efficient Solution to Absolute Orientation", IAPR/IEEE Int'l.
Conference on Pattern Recognition (ICPR), p. 3816-3819, Cancun, Mexico, Dec. 4-8, 2016.
https://www.researchgate.net/publication/316445722_An_efficient_solution_to_absolute_orientation

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