tree 25e6ff742fe539c05a0cc92ca23b34687229f7fc
parent 9e6951254f935c2a6379c2140a071a8ae7552f20
author Jim Ostrowski <yimmy13@gmail.com> 1712201943 -0700
committer Jim Ostrowski <yimmy13@gmail.com> 1726954823 -0700

Changes to camera extrinsic calibration to improve accuracy

Adds Outlier Rejection

Do proper rotation (Quaternion) averaging

When camera sees two targets at once, store that, and store
a single observation to match with other cameras.  This leads
to a lot more good connections

Removed dead code, and refactored a couple pieces, e.g., writing extrinsic file

Also refactored some of the utilities to use quaternion averaging from utils,
and move other utility functions to vision_utils_lib

Change-Id: I918ce9c937d80717daa6659abbb139006506d4cc
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>