[Enhance] Reform multiviewpose

[wusize]

Motivation

Reformulate "DetectAndRegress" so that it has similar structure with a bottom-up method

Modification

BC-breaking (Optional)

Use cases (Optional)

Checklist

Before PR:

• [ ] I have read and followed the workflow indicated in the CONTRIBUTING.md to create this PR.
• [ ] Pre-commit or linting tools indicated in CONTRIBUTING.md are used to fix the potential lint issues.
• [ ] Bug fixes are covered by unit tests, the case that causes the bug should be added in the unit tests.
• [ ] New functionalities are covered by complete unit tests. If not, please add more unit tests to ensure correctness.
• [ ] The documentation has been modified accordingly, including docstring or example tutorials.

After PR:

• [ ] CLA has been signed and all committers have signed the CLA in this PR.