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