stereo_calibration

use checkerboard.sdf and move_gazebo_model to view calibration template from stereo cameras (in rviz)
some useful coordinates for calibration:

x,y,z = 
upper left corner:
enter x: -.135
enter y: -.02
enter z: 0.002

upper right corner:
enter x: -0.005
enter y: -0.02
enter z: 0.002

lower right corner:
enter x: -0.005
enter y: -0.1
enter z: 0.002

lower left corner:
enter x: -0.135
enter y: -0.1
enter z: 0.002

center:
enter x: -0.067
enter y: -0.06
enter z: 0.002

turn gravity off;
center, fill view:
enter x: -0.067
enter y: -0.06
enter z: 0.18

ROTATIONS:
try x = -0.0067, y= -0.06, z = 0.1 and change rot's

start w/ qz=0, qw=1, qy=0; vary qx; renormalize w/:
        quat.x = qx/norm;
        quat.y = qy/norm;
        quat.z = qz/norm;
        quat.w = qw/norm;

steps qx = 0.1, 0.2, 0.3, 0.4 and negatives of these
at qx=0, do steps qy of: -0.4, -0.3, ...+0.3, + 0.4

combine: qx, qy = 0.2, 0.2
-0.2, 0.2
-0.3, 0.1
0.3, -0.15

rosrun camera_calibration cameracalibrator.py --approximate 0.1 --size 7x6 --square 0.02 right:= /davinci/right_camera/image_raw left:=/davinci/left_camera/image_raw right_camera:=/davinci/right_camera left_camera:=/davinci/left_camera

mono: 
rosrun camera_calibration cameracalibrator.py --size 7x6 --square 0.02 image:=/davinci/left_camera/image_raw camera:=/davinci/left_camera

set up system with:
roslaunch dvrk_model wsn_davinci_gazebo.launch
rosrun rviz rviz
rosrun davinci_traj_streamer davinci_traj_interpolator_as
from: ros_ws/src/davinci_wsn/davinci_playfiles
  rosrun playfile_reader playfile_cartspace retract.csp

just to get arms out of the way;
  may play with directional or spot lights in gazebo to get good lighting of checkerboard