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使用ROS官方提供的 camera_calibration 包对双目相机进行标定

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一、准备工作：

1. 系统环境：Ubuntu16.04
2. ROS版本：ros-kinetic
3. 双目相机：Intel RealSense D435i
4. 标定板：7×6

二、双目标定：

1. 启动双目相机驱动：

source devel/setup.bash
roslaunch realsense2_camera rs_camera.launch

3. 查看图像是否发布：

rostopic list  #列出 topic 确保相机正在通过ROS发布图像

这会显示所有已发布的topic，检查是否有双目相机左右图像的topic。以下是本实验的相机topic：

buu@buu-OptiPlex-7060:~$ rostopic list
/camera/accel/imu_info
/camera/accel/sample
/camera/color/camera_info
/camera/color/image_raw
/camera/depth/camera_info
/camera/depth/image_rect_raw
/camera/extrinsics/depth_to_color
/camera/extrinsics/depth_to_infra1
/camera/extrinsics/depth_to_infra2
/camera/gyro/imu_info
/camera/gyro/sample
/camera/infra1/camera_info
/camera/infra1/image_rect_raw
/camera/infra2/camera_info
/camera/infra2/image_rect_raw
/camera/motion_module/parameter_descriptions
/camera/motion_module/parameter_updates
/camera/realsense2_camera_manager/bond
/camera/rgb_camera/auto_exposure_roi/parameter_descriptions
/camera/rgb_camera/auto_exposure_roi/parameter_updates
/camera/rgb_camera/parameter_descriptions
/camera/rgb_camera/parameter_updates
/camera/stereo_module/auto_exposure_roi/parameter_descriptions
/camera/stereo_module/auto_exposure_roi/parameter_updates
/camera/stereo_module/parameter_descriptions
/camera/stereo_module/parameter_updates
/clicked_point
/diagnostics
/health_aggregator/error_text
/health_aggregator/fatal_text
/health_aggregator/ok_text
/health_aggregator/warn_text
/initialpose
/linear_velocity_viz
/move_base_simple/goal
/ndt_monitor/ndt_info_text
/points_raw
/rosout
/rosout_agg
/tf
/tf_static

3. 安装编译image_pipeline包：

cd catkin_ws/src  
git clone https://github.com/ros-perception/image_pipeline/tree/kinetic  # 注意：要下载kinetic版本的包
cd ..  
rosdep install --from-paths src --ignore-src   # 安装image_pipeline 所需的依赖
catkin_make

4. 启动标定程序：

source devel/setup.bash
rosrun camera_calibration cameracalibrator.py --approximate 0.1 --size 7x6 --square 0.025 left:=/camera/infra1/image_rect_raw right:=/camera/infra2/image_rect_raw right_camera:=/camera/right left_camera:=/camera/left --no-service-check

5. 标定完成后，点击”SAVE"保存标定结果，默认保存在/tmp/calibrationdata.tar.gz路径下。