ROS 双目标定

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

发布ZED节点

roslaunch zed_cpu_ros zed_cpu_ros.launch

产看话题

rostopic list

这会显示所有发布的主题，检查是否有左右两个image_raw主题：

/stereo_camera/left/camera_info
/stereo_camera/left/image_raw
/stereo_camera/left/image_raw/compressed
/stereo_camera/left/image_raw/compressed/parameter_descriptions
/stereo_camera/left/image_raw/compressed/parameter_updates
/stereo_camera/left/image_raw/compressedDepth
/stereo_camera/left/image_raw/compressedDepth/parameter_descriptions
/stereo_camera/left/image_raw/compressedDepth/parameter_updates
/stereo_camera/left/image_raw/theora
/stereo_camera/left/image_raw/theora/parameter_descriptions
/stereo_camera/left/image_raw/theora/parameter_updates
/stereo_camera/right/camera_info
/stereo_camera/right/image_raw
/stereo_camera/right/image_raw/compressed
/stereo_camera/right/image_raw/compressed/parameter_descriptions
/stereo_camera/right/image_raw/compressed/parameter_updates
/stereo_camera/right/image_raw/compressedDepth
/stereo_camera/right/image_raw/compressedDepth/parameter_descriptions
/stereo_camera/right/image_raw/compressedDepth/parameter_updates
/stereo_camera/right/image_raw/theora
/stereo_camera/right/image_raw/theora/parameter_descriptions
/stereo_camera/right/image_raw/theora/parameter_updates
/tf

要开始校准，您需要加载将要校准的图像主题：

rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 right：=/stereo_camera/right/image_raw left：=/stereo_camera/left/image_raw right_camera：=/stereo_camera/right left_camera：=/stereo_camera/left