Update RealSense D555 to use calibrated parameters for distortion and intrinsics

[kluge7]

Update the camera intrinsics and distortion parameters. Test if it is possible to update this on the firmware (most critical is for the IR images, so that we get undistorted depth image directly from the camera). Contact @kluge7 for intrinsics and distortion parameters

[kluge7]

The main challenge will be figuring out if it is possible to do. Setup for RealSense D555 is:

• Connect POE to your computer and RealSense
• Enable Jumpo Frames over the interface
• Download the RealSense SDK (realsense-viewer gui?)
• Open the realsense-viewer and you should be able to select the RealSense camera.

Contact @kluge7 or @jorgenfj if any problems occur or any questions.

[kluge7]

Follow the guide here to update intrinsics and distortion for realsense using the realsense-viewer: realsenseai/librealsense#11596 (comment)

Color needs to be undistored on Orin (we do get raw images, so all we need to do is update the camera info topic, so can make a camera info publisher which published the calibrated info)