1、相机驱动:
http://blog.csdn.net/heyijia0327/article/details/41623419
2、相机标定内参:
http://blog.csdn.net/heyijia0327/article/details/43538695
http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration
3、图片去畸变
http://wiki.ros.org/image_proc
指令:
启动相机:roslaunch usb_cam usb_cam-test.launch
启动去畸变:ROS_NAMESPACE=usb_cam rosrun image_proc image_proc
显示去畸变效果:rosrun image_view image_view image:=usb_cam/image_rectolor