feat: subsampled + roi approach to accelerate intrinsic calibration

[knzo25]

Description

With high resolution cameras the intrinsic tools ran very slow. To avoid / remedy that we can use a two detection step:

• detection in a lower resolution image
• extract the ROI in the original image and run the detector again in the ROI

Related links

Tests performed

Notes for reviewers

We need to test:

• C1/C2
• Dot board / chess board
• Hopefully use a live sensor running at different hz. 1hz, 10hz, 30hz

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