Implement pca patch/plane detec

[DamienGilliard]

The PR concerns the implementation of a RANSAC plane detection on each face, to improve the pose estimation
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And it works !!! The video hereunder shows successive computations of the poses of 3 point clouds. With the previous method we had some big jumps in pose, and now it is much more stable.

Enregistrement.de.l.ecran.2025-11-24.173042.mp4

Changes include:

• A change in the CAD segmentation that also outputs a datatree with the segments associated with each side DF_Face:

• A new FitPlaneRANSAC() function in DFPointCloud to detect a plane in a point cloud
• DF_Pose_Estimation now takes a datatree of point clouds (face segments per beam) and computes the pose using those segments

ToDo

• add test
• check generated documentation
• coherence of variable names