Statistical analysis of calibration

[sourishg]

1. Generate insightful plots describing camera calibration accuracy. Here's an example: plot the graph of reprojection error vs number of images used for calibration.

2. Compare multiple methods (AprilTags vs Checkerboard)

[BarunKGP]

How do I get the data? Do I run the code and store the data? Also, how do you want the comparison done?

[sourishg]

@BarunKGP yes you should collect the data by running the code. You can focus on solving (1) only for now since AprilTags calibration method for (2) isn't implemented yet.

I recommend using matplotlib for plotting.

[pushkalkatara]

The cam_left.yaml and the cam_stereo.yaml files are generated using opencv. Should i load these files using pyyaml in python and plot the graph in matplotlib or should i use matplotlib wrapper for c++?

[sourishg]

@pushkalkatara why are loading the yaml files? I think you only need to record the calibration error (which right now I'm echoing out in the terminal) and the number of images used for calibration (specified by the -n flag).

No need to write a C++ wrapper for matplotlib, you can use python.

[pushkalkatara]

@sourishg Please review the PR.

[BarunKGP]

@sourishg, should I embed python code in calib_intrinsic.cpp to use matplotlib and print out the graphs?