Function camcal::compute_intrinsics

pub fn compute_intrinsics<R: RealField>(
    size: PixelSize,
    data: &[CheckerBoardData]
) -> Result<RosOpenCvIntrinsics<R>, Error>

Given some checkerboard corner locations, compute intrinsics

This is based on ROS camera_calibration.calibrator.MonoCalibrator. Note that unlike ROS, which scales the image so that k and p matrices are different, the code here does not. ROS does this so that undistorted images fill the entire image area.