Decomposition of Essential Matrix does not reconstruct the same essential matrix again

In #143, we added a warning log in cases where the decomposed R, t do not form the same input E again. This happens for 9/66 pairs on the door dataset using RANSAC-E.

Start with the behavior described in #143 and reproduce the mismatch between the input essential matrix and the matrix formed from decomposed R and t. Compare the 9 failing pairs among the 66 door-dataset pairs produced by RANSAC-E; no file or test is named, so the expected reconstruction behavior must be established before defining done.

Written by the indexing model from the issue text.