Intel realsense, camera calibration, cascade classifiers and ROS

In the past week, we finally obtained the intel realsense and which we have begun using in our project. We were able to build the cascade classifier which would detect the face of a person. Using the vertices of the cascade classifier have been able to find out the image coordinates of the center of the face.

Now, to convert the pixel coordinates into real world coordinates was very tough, as we had to learn quite a bit of mathematics and camera properties. Finally calibrating the realsense camera, we were able to get a camera matrix of its internal properties. This we will use in our calculations to get real world coordinates, through which we will be able to get elevation angle and twisting angle.

This data we intend to send in the form of messages to RVIZ simulator. We have also been studying about how to build simulation's. Initially we tried to install the Baxter robot drivers, but were unsuccessfull. Then Dr. Ramviyas suggested that we could use PR-2 robot simulation. It might be easier as it has very nice documentation, which we intend to follow.

Hopefully by end of this week we will be generating all appropriate data to send to the simulator, and begin work on the simulation by next week.