Filter relative poses by rotation cycle consistency

[sarlinpe]

Summary

This PR introduces rotation cycle consistency filtering for relative poses before global rotation averaging.

Changes

• Implement 3-cycle rotation consistency evaluation across mutual neighbors in the view graph.
• Reject pairs whose relative rotations exhibit large median cycle errors and high inconsistency ratios.
• Automatically flag invalidated consecutive tracking edges so downstream stages can route the spanning tree across genuine loop closures.
• Add configuration options to MDRPOptions.
• Add unit tests verifying consistent loop preservation and corrupted edge rejection.