Inlier stats (after checking for support) are incorrect
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Description
Computation in [L82](https://github.com/borglab/gtsfm/pull/225/files#diff-a848c84e1ba3cc26057f1e43c204b0cc1da75f820ca9502823ac2018103de0f5R82) will give us the wrong numbers about inlier stats. If for 3 pairs, we had # inliers as 20, 20, 5, and if we threw away the 3rd, then we should have avg # inliers = 20.
But in our code it would be return as 15, which isn't correct.
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