This PR adds the capability of computing 3D reprojection error of the observed 2D image features onto the calibrated target plane. The intent of this PR is to give users additional feedback about the accuracy of the calibration in "world" units that can be more easily understood and interpreted, compared to the currently reported pixel error.
Modified circle grid with Kinect camera example
Initial cost?: 117.243 (pixels per dot)
Final cost?: 1.14589 (pixels per dot)
+ 3D reprojection error statistics:
+ Mean +/- Std. Dev. (m): 0.00289945 +/- 0.0016792
+ Min (m): 4.26119e-05
+ Max (m): 0.0150042
ChArUco with AVT GigE camera example
Did converge?: 1
Initial cost?: 15.7898 (pixels per dot)
Final cost?: 1.25148 (pixels per dot)
+ 3D reprojection error statistics:
+ Mean +/- Std. Dev. (m): 0.000951459 +/- 0.000557897
+ Min (m): 2.02681e-05
+ Max (m): 0.00290775
This PR adds the capability of computing 3D reprojection error of the observed 2D image features onto the calibrated target plane. The intent of this PR is to give users additional feedback about the accuracy of the calibration in "world" units that can be more easily understood and interpreted, compared to the currently reported pixel error.
Modified circle grid with Kinect camera example
ChArUco with AVT GigE camera example
Merge after #106