ZR300矫正方法

首先启动相机

$roslaunch realsense_camera zr300_nodelet_default.launch

第二步

$rostopic echo /camera/fisheye/camera_info

上面步骤是显示ZR300相机的内参

---
显示如下：
header: 
  seq: 1731
  stamp: 
    secs: 1595486896
    nsecs: 482171493
  frame_id: "camera_fisheye_optical_frame"
height: 480
width: 640
distortion_model: "plumb_bob"
D: [0.922537088394165, 0.0, 0.0, 0.0, 0.0]
K: [256.9385986328125, 0.0, 318.8190002441406, 0.0, 255.2512969970703, 249.00599670410156, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [256.9385986328125, 0.0, 318.8190002441406, 0.0, 0.0, 255.2512969970703, 249.00599670410156, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi: 
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False
---

参考官网链接：realsense_camera-ROS
点进去官网，有显示fisheye/camera_info(sensor_msgs/CameraInfo)里面有超级详细的介绍
到此就得到ZR300相机内参的全部了，休息一下～～～