[PER-170] augmenting calibration positions

[lgalup-bdai]

we augment the calibration to allow view diversity along the width of the board, i.e., the x axis.
in other words, we can now vary the position of the views taken during collection.

this makes the calibration views configurable. the above change also moves the camera along the width
of the board, not just distance to the board.

Testing: I tested this using my calibration_gui.py.
Here are the configuration parameters is used for this collect:
for the --dist_from_board_viewpoint_range
i used: [0.2, 0.6, 0.15]
and for --dist_along_board_width
i used: [-0.3, 0.4, 0.2]

which, if you collection is taken with spot about 1.5 meters away from the board, i get over 300 views.
to understnad the error of calibration, i took 4 collects, and here are the estimates of the translation between the RGB and depth frames:

Here, you can see something typical for calibration, the error on the x,y values are about a millimeter, but the error for the z values are about a centimeter.

Please note that when with the current set of views (on main), the error is far greater. i am getting about 10 centimeters in the z direction

[coveralls]

Pull Request Test Coverage Report for Build 21039901132

Details

• 0 of 6 (0.0%) changed or added relevant lines in 2 files are covered.
• 1 unchanged line in 1 file lost coverage.
• Overall coverage decreased (-0.03%) to 44.29%

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Changes Missing Coverage	Covered Lines	Changed/Added Lines	%
spot_wrapper/calibration/calibrate_spot_hand_camera_cli.py	0	1	0.0%
spot_wrapper/calibration/calibration_util.py	0	5	0.0%

Files with Coverage Reduction	New Missed Lines	%
spot_wrapper/calibration/calibration_util.py	1	0.0%

Totals
Change from base Build 20033050358:	-0.03%
Covered Lines:	2195
Relevant Lines:	4956

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💛 - Coveralls