def calibrate_ar (rgb1, depth1, rgb2, depth2):
"""
Create points for the AR transform and then find a transform such that
Tfm * cam1 = cam2
"""
ar_pos1 = get_ar_marker_poses (rgb1, depth1)
ar_pos2 = get_ar_marker_poses (rgb2, depth2)
points1 = conver_hmat_to_points(ar_pos1)
points2 = conver_hmat_to_points(ar_pos2)
return find_rigid_tfm(points1, points2)
def calibrate_click (rgb1, depth1, rgb2, depth2):
"""
Uses points clicked for each cam and then return a transform such that
Tfm * cam1 = cam2.
TODO: Maybe use red color or something to tack clicked point onto?
"""
points1 = get_click_points(rgb1, depth1)
points2 = get_click_points(rgb2, depth2)
return find_rigid_tfm(points1, points2)