Add uncertainity aware rotation averaging #2391

Job	Run time
Benchmark (sift, door-12, 15, JPG, test_data, olsson-loader, 1296, true)	9m 39s
Benchmark (lightglue, door-12, 15, JPG, test_data, olsson-loader, 1296, true)	19m 15s
Benchmark (sift, skydio-8, 15, jpg, wget, colmap-loader, 760, true)	3m 32s
Benchmark (lightglue, skydio-8, 15, jpg, wget, colmap-loader, 760, true)	5m 17s
Benchmark (sift, skydio-32, 15, jpg, wget, colmap-loader, 760, true)	7m 42s
Benchmark (lightglue, skydio-32, 15, jpg, wget, colmap-loader, 760, true)	38m 49s
Benchmark (sift, palace-fine-arts-281, 15, jpg, wget, olsson-loader, 320, true)	34m 20s
Benchmark (lightglue, notre-dame-20, 15, jpg, wget, colmap-loader, 760, false)	14m 51s
Benchmark (sift, 2011205_rc3, 15, png, wget, astrovision, 1024, true)	23m 21s
Benchmark (lightglue, 2011205_rc3, 15, png, wget, astrovision, 1024, true)	33m 17s
Benchmark (sift, gerrard-hall-100, 15, jpg, wget, colmap-loader, 760, true)	31m 43s
Benchmark (lightglue, gerrard-hall-100, 15, jpg, wget, colmap-loader, 760, true)	3h 12m 25s
Benchmark (sift, south-building-128, 15, jpg, wget, colmap-loader, 760, true)	38m 27s
Benchmark (lightglue, south-building-128, 15, jpg, wget, colmap-loader, 760, true)	2h 24m 10s
	9h 56m 48s

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