Hierarchical 2D optimization

[adisuissa]

First optimize each mfov separately, then "fix" all tiles in each mfov, and then do a global optimization and find a per-mfov transformation (keeping the previous "fixed" tiles transformations).

To reduce the floating point error, each mfov center (with all tiles) should be first transformed to (0,0),
and the result should store both the tile local tile transformation (after the optimization, just the rigid transformation in the tile coordinates), T_tile, and the global translation of each tile to the correct global location, F_tile.
The tile transformation will be based on two transformations: T_tile + F_tile.

The global optimization needs to find a rigid transformation between all mfovs.
To this end, a per-mfov rigid transformation, T_mfov, will be searched for, s.t., T_mfov*T_tile + F_tile will be the tile's final transformation.