用camera_calibration标定单目摄像头

1）先下好camera_calibration包

http://wiki.ros.org/camera_calibration/

2)启动摄像头

src下：

roscore

roslaunch usb_cam usb_cam-test.launch  # 启动摄像头

# 改rose.mono.cc  将话题改为/usb_cam/image_raw

3)使用200mm方形的9x8棋盘为单目摄像机运行cameracalibrator.py节点：

rosrun camera_calibration cameracalibrator.py --size 9x8--square 0.02 image:=/usb_camera/image_raw  camera:=/usb_camera

4)要运行双目摄像机的cameracalibrator.py节点：

rosrun camera_calibration cameracalibrator.py --size 9x8 --square 0.02 right:=/my_stereo/right/image_raw left:=/my_stereo/left/image_raw left_camera:=/my_stereo/left right_camera:=/my_stereo/right