calib_camera_pose.launch

<launch>

    <!-- Though display in opencv, I als pub the result image to topic.  -->
    <arg name="topic_to_pub_calib_result_image"  default="my/image_chessboard_pose" doc=""/>


    <node name="calib_camera_pose" type="calib_camera_pose.py" pkg="scan3d_by_baxter" output = "screen">
        
        <!-- !!! Set to false if not debug !!! -->
        <param name="DEBUG_MODE" value="false" />     
        <!-- <param name="DEBUG_MODE" value="true" />      -->
        
        <!-- Input image topics -->
        <param name="topic_baxter_left_hand_camera" value="/cameras/left_hand_camera/image" />     
        <param name="topic_rgbd_camera" value="/camera/color/image_raw" />     
        <!-- WARNING: Baxter's camera info is for its 1280x800 size image. If image resized, info won't changed, which is wrong! S**t!
            So if you resize the image, you need to manually input the camera info.
            Here I simply use the default camera size, which is 1280x800:
        rosrun baxter_tools camera_control.py -o left_hand_camera -r 1280x800 -->

        <!-- Chessboard params -->
        <param name="chessboard_square_size" value="0.02455555"  />
        <param name="chessboard_checker_rows" value="7"  />
        <param name="chessboard_checker_cols" value="9"  />

        <!-- Baxter: which frame is rgb-d camera connected to -->
        <param name="the_frame_depth_camera_connected_to" value="/left_lower_forearm" />

        <!-- Output file to store calibration result (T) -->
        <param name="file_folder" value="$(find scan3d_by_baxter)/config/" /> 
        <param name="file_name_T_baxter_to_chess" value="T_baxter_to_chess.txt"  />
        <param name="file_name_T_arm_to_depth" value="T_arm_to_depth.txt"  />

        <!-- Output to rqt_image_viewer -->
        <param name="topic_to_pub_calib_result_image" value="$(arg topic_to_pub_calib_result_image)" />

    </node>


    <!-- Display result in rqt_image_view -->
    <!-- <node name="rqt_image_view" type="rqt_image_view" pkg="rqt_image_view"
        output = "screen" args="image:=/$(arg topic_to_pub_calib_result_image)">
    </node> -->

    <!-- Show image from depth_camera in rviz -->
    <node type="rviz" name="rviz_depth_image" pkg="rviz"
       args="-d $(find scan3d_by_baxter)/config/rviz_depth_image_2.rviz" 
    /> 

</launch>

<!-- A typical calibration result is shown here:

Get/Save T_baxter_to_chess:
[[ 0.9950652   0.07175472 -0.0685311   0.42526041]
 [ 0.06799306 -0.99612797 -0.05573167  0.14072247]
 [-0.07226475  0.05079701 -0.99609109 -0.87945118]
 [ 0.          0.          0.          1.        ]]
Get/Save T_arm_to_depth:
[[ 0.98484448 -0.16254042 -0.06051409  0.011358  ]
 [ 0.16413439  0.98618497  0.0223407  -0.13841626]
 [ 0.05604682 -0.03193455  0.9979173  -0.13285034]
 [ 0.          0.          0.          1.        ]]


 -->