Deal with error "no essential matrix" somehow

[danielsanjosepro]

• [ ] skip image and try next one
• [ ] try again max x times

[MariusGhica]

There is the variant of calculating the fundamental matrix and from this the essential matrix with the help of the camera parameters.

E=KFK', where K is part of the object cameraParams.

[danielsanjosepro]

Closed by #47