Small tool for calibrating the offset between a depth camera and Vicon markers. Uses a target constructed of a chessboard with Vicon markers placed in known locations.
This library has three ROS nodes
vicon_checker_calib - This node uses a checkerboard with additional Vicon markers to find the transformation between a depth camera output and the coordinate frame given by its Vicon markers.
pointcloud_to_global - Combines a point cloud with a Vicon transform to give the points in the Vicon frame.
image_converter - Converts images to 8-bit (needed for calibrating 16-bit ir images produced by many depth cams)
These functions are based off of work performed by Philipp Egger (See the report.pdf for further details)