Camera calibration

[nickswalker]

We're going to be manipulating things potentially with respect to two depth cameras, so we should do a standard calibration on the intrinsics (the opencv one for the built in camera, and the intel one for the realsense and do something to make sure the extrinsics are correct for the external camera.

Intrinsics should be stored in some config files in this repo (or in camera for the realsense) and the extrinsics should be baked into the URDF

[nickswalker]

Good high level discussion of what this means: https://www.mathworks.com/help/vision/ug/camera-calibration.html

Of course, we're just using tools that already implement all of this stuff so try not to sweat things that don't make sense.

[EdanSneh]

Currently it seems the intel librscalibrationtools library for intrinsic and extrinsic calibration only works for amd64 and not arm64. Not sure what the workaround is but I am going to check out the intrinsic information in the librealsense sdk to see how off our intrinsic calibration currently is

[nickswalker]

Ugh that’s annoying. Would recommend opening an issue as a feature request since this whole Jetson+Realsense is a common use case. I imagine their extrinsics calibration is just for the lens housing, so it’s probably fine to run the full calibration using one of the desktop machines.

[EdanSneh]

To launch realsense must launch this scirpt. Also : roslaunch realsense2_camera rs_rgbd.launch camera:=head_external_camera enable_pointcloud:=true
also must change robot.launch file in etc/ros/melodic to point to correct urdf (place in /etc/ros/melodic folder)
Also to load cad models must source fetch-ws (@nickswalker ) did not want to mess with catkin config in fear of breaking something