1. remove libfreenect kinnectsensor driver

download check image from:

http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration?action=AttachFile&do=view&target=check-108.pdf

2.

roslaunch openni_launch openni.launch

to open server

3. open another terminal

rosrun camera_calibration cameracalibrator.py image:=/camera/rgb/image_raw camera:=/camera/rgb --size 8x6 --square 0.108

click calibrate when it is enabled.

after a while

click save and commit.

same process for depth

rosrun camera_calibration cameracalibrator.py image:=/camera/ir/image_raw camera:=/camera/ir --size 8x6 --square 0.108

reference:

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

http://wiki.ros.org/openni_launch/Tutorials/IntrinsicCalibration

原文链接：https://www.f2er.com/ubuntu/350746.html