Add the RGB-D sphere for VisualAlignment.

updates for cmake 4

Add the conversion tools from the Cartesian polynomial model to OpenCV's Fisheye model and from rational polynomial distortions to OpenCV's Fisheye model.

Extension of spherical image representations to the UniphorM leveraging the Voronoi tesselation dual to a subdivided icosahedron.

The latter is now loaded from xml files that make the increase of subdivision levels easier and compilation faster, so does the former.
The new UniphorM representation is introduced first to improve the VisualGyroscope.

Generalization of the PGM perspective visual servoing routines by making them independent of the camera model, thus introducing easily PGM omnidirectional visual servoing and PGM equirectangular visual servoing.
Add missing export capabilities for camera model conversions
Bug correction in the PGM-based VS set generic to the camera model.

Extend the distortions model from polynomial to rational polynomial
Add the Cartesian polynomial model for panoramic cameras
Add the equidistant model for fisheye cameras
Add the conversion tools from equidistant to omnidirectional model, from omnidirectional model to Cartesian polynomial and from rational polynomial distortions to polynomial distortions

Add capabilities for Photometric Gaussian Mixture-based perspective direct visual servoing.

This is the libPeR_base matching the https://github.com/PerceptionRobotique/VisualGyroscope version for OmniCV2023.

correct equirectangular model