相机内参的K, D, R, P的含义

1. 方法1,标定包camera_calibration

   //安装包
   rosdep install camera_calibration
   

   //启动相机
   roslaunch realsense2_camera rs_camera.launch
   rostopic list
   //发现发布的话题名为
   /camera/color/camera_info
   /camera/color/image_raw
   

   打印棋盘格：链接
   执行指令

   rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 image:=/camera/color/image_raw camera:=/camera/color --no-service-check
   

   8×6指的是不包含最外面的横纵的角点数
   在标定过程中，各个方向不断移动棋盘格，使得calibration按钮变绿，再点击一下此按钮，就可以看到终端输出的结果

   [image]
   
   width
   1280
   
   height
   720
   
   [narrow_stereo]
   
   camera matrix
   859.033898 0.000000 619.216611
   0.000000 863.490990 354.484871
   0.000000 0.000000 1.000000
   
   distortion
   0.048688 -0.132492 -0.001122 -0.000018 0.000000
   
   rectification
   1.000000 0.000000 0.000000
   0.000000 1.000000 0.000000
   0.000000 0.000000 1.000000
   
   projection
   844.497559 0.000000 615.859168 0.000000
   0.000000 866.134033 353.479709 0.000000
   0.000000 0.000000 1.000000 0.000000