Section 2.5 of this report outlines what we did: https://erdc-library.erdc.dren.mil/items/1b253af6-fa61-4241-aa85-942d3ccef025
The laser-cut calibration board is shown in Figure 3. We used a hair dryer to generate a temperature difference between the board and the cut holes. Calibration was performed using the camera calibration found at https://github.com/ros-perception/image pipeline. The calibrated YAML file for the Boson 320 camera is listed in Appendix D.