ROS 校准单木头相机

1,roscore

2,roslaunch usb_cam usb_cam-test2.launch

3,rosrun camera_calibration cameracalibrator.py --size 12x8 --square 0.02 image:=/usb_cam/image_raw camera:=/usb_cam

4,roslaunch 文件如下

<launch>
  <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
    <param name="video_device" value="/dev/video0" />
    <param name="image_width" value="3840" />
    <param name="image_height" value="2160" />
    <param name="pixel_format" value="yuyv" />
    <param name="camera_frame_id" value="usb_cam" />
    <param name="io_method" value="mmap"/>
  </node>
  <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen">
    <remap from="image" to="/usb_cam/image_raw"/>
    <param name="autosize" value="true" />
  </node>

</launch>