ROS 校准双目相机

1) roscore

2)roslaunch usb_cam usb_cam-test1.launch

3)rosrun camera_calibration cameracalibrator.py --approximate 0.1 --size 12x8 --square 0.02 right:=/camera1/usb_cam1/image_raw left:=/camera2/usb_cam2/image_raw right_camera:=/camera1/usb_cam1 left_camera:=/camera2/usb_cam2

4)roslaunch 文件如下

<launch>
 <group ns="camera1">
  <node name="usb_cam1" pkg="usb_cam" type="usb_cam_node" output="screen" >
    <param name="video_device" value="/dev/video1" />
    <param name="image_width" value="3840" />
    <param name="image_height" value="2160" />
    <param name="pixel_format" value="mjpeg" />
    <param name="camera_frame_id" value="yuyv" />
    <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="/camera1/usb_cam1/image_raw"/>
    <param name="autosize" value="true" />
  </node>
 </group>

<group ns="camera2">
  <node name="usb_cam2" 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="mjpeg" />
    <param name="camera_frame_id" value="yuyv" />
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