Fix Essential decompose bug, add SSBA-3.0

1, fix the bug according to SFMToyLib :
https://github.com/royshil/SfM-Toy-Library/commit/65fd50b3059b9f24d8f6d8362444931e5a62fa0e
2, add SSBA-3.0 into CMake system as a part of this project  ,then I can
build the whole project at once.