Parameters of the Optimization:

• joint angle offsets
• frame 6DOF corrections (currently head pan frame, and camera frame)
• camera intrinsics (2d & 3d)

Residual Blocks:

• difference of reprojection through the arm and camera
• residual blocks that limit offsets from growing outrageously large

Modules:

• Capture:
  • move joints to a particular place
  • wait to settle
  • find target (led or checkerboard)
  • write sample to bag file: joint angles, position of targets in camera.
• Calibrate:
  • load urdf, samples from bag file.
  • create arm and camera reprojection chains.
  • create residual blocks.
  • run calibration.
  • write results to URDF.