Documents present :
-> LMa_cameracalib_fixedIntrinsics LMa for Camera Calibration Parameters Refinement, using LMA algorithm computed by hand
-> LMa_cameracalib_fixedIntrinsics_lsqcurvefit same as before, but using matlab
-> CamExtrinsicsCalibrationClass the class , see line 50 (adding noise) -> need to choose a good way to do this.
Problems : How, where to add the noise for testing. Should use another optimizer ?
-> Extrinsic refinement : tag corners last edition, using fmincon and the cost function depicted in my thesis