Create optimization code for the calibration of sensors

[miguelriemoliveira]

With https://github.com/lardemua/AtlasCarCalibration/issues/29 complete we can now collect data for calibration.

Here is an example. Lets use this one for starters.

https://www.dropbox.com/s/0obrouwsh6zik62/calibration_test_07_06_2019.zip?dl=1

So @afonsocastro and @tiagomfmadeira lets meet next week to get started!

Try to download and take a look at the json to see if it makes sense.

[miguelriemoliveira]

About the structure of the json file, here's some help:

https://jsoneditoronline.org/?id=bb8ccea635a84b2f965e7c471cbbe8e0

[miguelriemoliveira]

Finally a working optimization !!!! Check

https://youtu.be/ShI-1_60fa4

Only with cameras, only one collection.

[miguelriemoliveira]

Before we had several errors, when computing the error, retrieving hte intrinsics etc...

[miguelriemoliveira]

and for multiple collections it also works ...

https://youtu.be/XFSO5UuI1fY

[miguelriemoliveira]

Better visualization.

[miguelriemoliveira]

Better framing of the images ...