Hand-eye calibration analysis update and addition of 3D projection analysis

[marip8]

This PR moves several extrinsic hand-eye calibration analysis utilities out of the demo into a separate file that can be re-used by applications.

This PR also adds the capability of computing 3D reprojection error of the observed 2D image features onto the calibrated target plane. The intent of this PR is to give users additional feedback about the accuracy of the calibration in "world" units that can be more easily understood and interpreted, compared to the currently reported pixel error.

Modified circle grid with Kinect camera example

Initial cost?: 117.243 (pixels per dot)
Final cost?: 1.14589 (pixels per dot)

+  3D reprojection error statistics:
+ 	 Mean +/- Std. Dev. (m): 0.00289945 +/- 0.0016792
+	 Min (m): 4.26119e-05
+ 	 Max (m): 0.0150042

ChArUco with AVT GigE camera example

Did converge?: 1
Initial cost?: 15.7898 (pixels per dot)
Final cost?: 1.25148 (pixels per dot)

+  3D reprojection error statistics:
+ 	 Mean +/- Std. Dev. (m): 0.000955558 +/- 0.000596744
+   	 Min (m): 3.42386e-05
+ 	 Max (m): 0.00310996