RANSAC for hand-eye calibration

[mfehr]

TODOs:

• [x] Implement all the algorithm variants we want to test:
  • [x] Simple approach currenty in master
  • [x] RANSAC - scalar equality based inlier selection
  • [x] RANSAC - RMSE based inlier selection
  • [x] Exhaustive search, scalar equality based inlier selection
  • [x] Exhaustive search, RMSE based inlier selection
• [ ] More testing:
  • [x] Simple approach currenty in master
  • [x] RANSAC - scalar equality based inlier selection
  • [x] RANSAC - RMSE based inlier selection
  • [x] Exhaustive search, scalar equality based inlier selection
  • [x] Exhaustive search, RMSE based inlier selection
• [x] Merge in @ntonci informative sample selection:
• [ ] Cleanup:
  • [ ] move stuff into functions