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Porting algorithms needed for mvg applets

Chet Nieter requested to merge dev/port-vxl-mvg-deps into integration-v2

Porting algorithms that are used by the default configuration for the mvg applets. This includes optimize_cameras, estimate_essential_matrix, and estimate_similarity_transform. Tests were ported as well and the the test for aligned_edge_detection was added as it was missed when that algorithm was ported.

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