Fixes to the hand-eye calibration methods, from #24871.

The Tsai method is sensitive to poses separated by small rotations, so I filter those out.

The Horaud and Daniilidis methods use quaternions (and dual quaternions), where $q$ and $-q$ represent the same transform. However, these methods depend on the gripper motion and camera motion having the same sign for the real part. The fix was simply to multiply the (dual) quaternions by -1 if their real part is negative.

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