====== VisMan: Modeling the Task Workspace Plane ======
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Part of calibration also involves capturing the tabletop plane relative to the camera.  It can then be used to define a collision surface in MoveIt!.


Use SVD to capture plane equations.
Write here the plane equations.
Collect data from realsense.
Perform the estimation of the frame.

Use optical center to recover a tabletop reference frame relative to the camera. Demonstrate recovery of tabletop-centric depth map.  _Optional_: convert to point cloud and visualize.



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