feat(ceres_intrinsic_camera_calibrator): ceres-based intrinsic calibrator

[knzo25]

Implemented a ceres-based camera intrinsics calibrator. Numerical results seem to be the same as opencv but it is way faster when using a large number of calibration images

Description

Related links

Tests performed

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[codecov-commenter]

Codecov Report

Attention: 338 lines in your changes are missing coverage. Please review.

Comparison is base (b0153ee) 0.95% compared to head (a0edbff) 0.00%.

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Additional details and impacted files

```diff @@ Coverage Diff @@ ## tier4/universe #141 +/- ## ================================================= - Coverage 0.95% 0.00% -0.96% ================================================= Files 269 4 -265 Lines 20908 338 -20570 Branches 387 0 -387 ================================================= - Hits 200 0 -200 + Misses 20551 338 -20213 + Partials 157 0 -157 ``` | [Flag](https://app.codecov.io/gh/tier4/CalibrationTools/pull/141/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | Coverage Δ | | |---|---|---| | [differential](https://app.codecov.io/gh/tier4/CalibrationTools/pull/141/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | `0.00% <0.00%> (?)` | | | [total](https://app.codecov.io/gh/tier4/CalibrationTools/pull/141/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | `?` | | Flags with carried forward coverage won't be shown. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4#carryforward-flags-in-the-pull-request-comment) to find out more. | [Files](https://app.codecov.io/gh/tier4/CalibrationTools/pull/141?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | Coverage Δ | | |---|---|---| | [...rinsic\_camera\_calibrator/reprojection\_residual.hpp](https://app.codecov.io/gh/tier4/CalibrationTools/pull/141?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4#diff-c2Vuc29yL2ludHJpbnNpY19jYW1lcmFfY2FsaWJyYXRvci9jZXJlc19pbnRyaW5zaWNfY2FtZXJhX2NhbGlicmF0b3IvaW5jbHVkZS9jZXJlc19pbnRyaW5zaWNfY2FtZXJhX2NhbGlicmF0b3IvcmVwcm9qZWN0aW9uX3Jlc2lkdWFsLmhwcA==) | `0.00% <0.00%> (ø)` | | | [...rator/src/ceres\_intrinsic\_camera\_calibrator\_py.cpp](https://app.codecov.io/gh/tier4/CalibrationTools/pull/141?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4#diff-c2Vuc29yL2ludHJpbnNpY19jYW1lcmFfY2FsaWJyYXRvci9jZXJlc19pbnRyaW5zaWNfY2FtZXJhX2NhbGlicmF0b3Ivc3JjL2NlcmVzX2ludHJpbnNpY19jYW1lcmFfY2FsaWJyYXRvcl9weS5jcHA=) | `0.00% <0.00%> (ø)` | | | [...tor/ceres\_intrinsic\_camera\_calibrator/src/main.cpp](https://app.codecov.io/gh/tier4/CalibrationTools/pull/141?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4#diff-c2Vuc29yL2ludHJpbnNpY19jYW1lcmFfY2FsaWJyYXRvci9jZXJlc19pbnRyaW5zaWNfY2FtZXJhX2NhbGlicmF0b3Ivc3JjL21haW4uY3Bw) | `0.00% <0.00%> (ø)` | | | [...librator/src/ceres\_camera\_intrinsics\_optimizer.cpp](https://app.codecov.io/gh/tier4/CalibrationTools/pull/141?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4#diff-c2Vuc29yL2ludHJpbnNpY19jYW1lcmFfY2FsaWJyYXRvci9jZXJlc19pbnRyaW5zaWNfY2FtZXJhX2NhbGlicmF0b3Ivc3JjL2NlcmVzX2NhbWVyYV9pbnRyaW5zaWNzX29wdGltaXplci5jcHA=) | `0.00% <0.00%> (ø)` | | ... and [269 files with indirect coverage changes](https://app.codecov.io/gh/tier4/CalibrationTools/pull/141/indirect-changes?src=pr&el=tree-more&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4)

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