UPGRADE_EUCLID upgrades to the euclidean reconstruction This function upgrades the projective reconstruction to the euclidean reconstruction by recovering the absolute quadric. Input: Xp - projective 3d location of points (4xn) Pp - projection matrices (3x4xm) Output: Xe - Euclidean 3d location of points (4xn) Re - camera rotation matrix (3x3xm) Te - camera translation vector (3xm) K - camera calibration matrix (3x3xm)