feat(geometry): umeyama_similarity (rot+trasl+scala uniforme)

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

config.yaml

@@ -147,13 +147,13 @@ pose_3d:
   cloud_params:
     step: 2
     max_depth_mm: 1000
-    nuwa_size_mm: 5
-    d435_size_mm: 5
+    nuwa_size_mm: 3
+    d435_size_mm: 3
     d435_scale_xy: 1
     flip_nuwa:
     - false
-    - false
-    - false
+    - true
+    - true
     flip_d435:
     - false
     - false