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Include static part into the pipeline - #3

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Tianyu-Wu wants to merge 26 commits into
CenekAlbl:masterfrom
Tianyu-Wu:static_scene
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Include static part into the pipeline#3
Tianyu-Wu wants to merge 26 commits into
CenekAlbl:masterfrom
Tianyu-Wu:static_scene

replace RANSAC with MAGSAC

c1387b2
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