Implement kornia3d::pose for homography and affine

[edgarriba]

Part of #189

This pull request introduces several significant improvements and new features to the kornia-3d and kornia-icp crates. The most important changes include adding new dependencies, enhancing existing functions, and introducing new modules and tests.

Dependency Updates:

• Added faer = "0.20.1" to Cargo.toml and updated faer to use the workspace version in crates/kornia-3d/Cargo.toml and crates/kornia-icp/Cargo.toml. [1] [2] [3]

Enhancements to Existing Functions:

• Modified transform_points3d to return a Result and added error handling for mismatched lengths of input arrays.
• Renamed several functions in crates/kornia-3d/src/linalg.rs for clarity and added new mathematical functions such as frobenius_norm33, mat33_div_scalar_inplace, det_mat33, cross_vec3, and normalize_mat33_inplace. [1] [2] [3] [4]

New Modules and Functions:

• Added a new pose module in crates/kornia-3d/src/lib.rs with submodules affine and homography. These submodules include functions for computing affine and homography transformations from point correspondences. [1] [2] [3] [4]

Test Enhancements:

• Added comprehensive tests for the new and updated functions in crates/kornia-3d/src/linalg.rs, crates/kornia-3d/src/pose/affine.rs, and crates/kornia-3d/src/pose/homography.rs. These tests ensure the correctness of transformations and mathematical operations. [1] [2] [3]

Error Handling Improvements:

• Updated icp_vanilla function in crates/kornia-icp/src/icp_vanilla.rs to handle errors by propagating them using the ? operator. [1] [2] [3]