Draft: Global Scaler Changes

Giorgio Angelottirequested to merge
giorgioangel/pgs-recon:main into main

Main changes:

  • Subpixel refinement of ArUco detection
  • RANSAC 3-views + post-filtering
  • Projection via PCA on best fitting plane
  • Calculate per marker scale factor via Umeyama
  • Weighted median of scale factors per marker, weighted by 1/error

Also in reconstruct.py the global scaler step moved after the bundle adjustment from --mvg-robust

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