Huber pnp refine

[Astik-2002]

📝 Description

Fix for the issue [https://github.com//issues/1099]
⚠️ Issue Link Required: This PR must be linked to an approved and assigned issue. See Contributing Guide for details.

Added huber kernel in PnP pose refinement

🛠️ Changes Made

• Added robust loss in refine.rs
• Added testcases for testing huber loss

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• [✓] Unit Tests: (List new/updated tests)
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• Performance/Edge Cases: (How does this handle nulls, large data, etc.?)

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[cjpurackal]

I have some concerns with tuning the max iterations and tolerances but I'll merge for now and change later.