Feature/chessboardcornerssb

Added error check to registration. Configurable threshold for MSE (chessboard point distance to estimated plane). If the board has very bad depth values, error should be high and registration would not complete.

Added pre-processor conditions to use findChessboardCorners/findChessboardCornersSB depending on OpenCV version (>= 4).

applications/reconstruct/include/ftl/registration.hpp

@@ -26,7 +26,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr cornersToPointCloud(const std::vector<cv::Po
 
 /* Find chessboard corners from image.
  */
-bool findChessboardCorners(cv::Mat &rgb, const cv::Mat &disp, const ftl::rgbd::CameraParameters &p, const cv::Size pattern_size, pcl::PointCloud<pcl::PointXYZ>::Ptr &out);
+bool findChessboardCorners(cv::Mat &rgb, const cv::Mat &disp, const ftl::rgbd::CameraParameters &p, const cv::Size pattern_size, pcl::PointCloud<pcl::PointXYZ>::Ptr &out, float error_threshold);
 
 };
 };