requested to merge 427-extrinsic-calibration-does-not-calculate-correct-reprojection-error into master
Due to a mistake in !267 (merged), the error of the extrinsic calibration was calculated using the old calibration (i.e. all zeros on a new project). This leads to a terrible error and thusly to the rejection of the new calibration.
This MR fixes this by using the new extrinsic parameters to calculate the reprojection error. It also adds some simple regression tests for the extrinsic calibration to catch such mistakes earlier in the future.
To reproduce, the test data can be used. On the old version, loading the
before.3dc will lead to an error
Could not calibrate, while on the new version, it will result in a proper calibration (using
01_intrinsics.pet as project)
Closes #427 (closed)