feat(tag_based_pnp_calibrator): choose between sqpnp and iterative automatically #222
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…np based calibration. automatically choose between observations and hypotheses when returning the final calibration Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
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In the past we used sqpnp as the pnp algorithm because it behaved better in our used cases.
However, for recent cases, the default iterative algorithm has shown better results, so in this PR I made it so that the one with the least reprojection error solution is chosen.
Additionally in noisy environment (wind), the filtering may be compromised so I added an option to chose automatically between the filtered hypotheses and the last observations depending on which set gives a better fit.
Related links
TIER IV INTERNAL LINK
Tests performed
Calibrated camera-lidar for our Gen2 internal project
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