====== Calibrating Realsense RGB Camera ROS Melodic ======

  * Adjust Realsense camera resolution:

  roscd realsense2_camera
  nano rs_camera.launch

  * Edit rs_camera.launch file. Change to the following resolutions:

  <arg name="depth_width"         default="1280"/>
  <arg name="depth_height"        default="720"/>
  <arg name="enable_depth"        default="true"/>
  
  <arg name="infra_width"        default="1280"/>
  <arg name="infra_height"       default="720"/>
  <arg name="enable_infra1"       default="true"/>
  <arg name="enable_infra2"       default="true"/>
  
  <arg name="color_width"         default="1920"/>
  <arg name="color_height"        default="1080"/>
  <arg name="enable_color"        default="true"/>

  * Check new configuration:

  roslaunch realsense2_camera rs_camera.launch

  rosrun image_view image_view image:=/camera/color/image_raw

  rostopic echo /camera/color/camera_info

  * Check that camera_info is informing of a 1920x1080 resolution
  * Execute calibration program (adjust size and square according to your printed board):

  rosrun camera_calibration cameracalibrator.py --no-service-check --size 8x6 --square 0.2463 image:=/camera/color/image_raw

  * Move calibration board according to : [[http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration]], press "Calibrate" button and then "save" button.
  * Calibration data is stored in: /tmp/calibrationdata.tar.gz
  *