1）先下好camera_calibration包
下載網址http://wiki.ros.org/camera_calibration/
2)啓動攝像頭
src下：
roscore
roslaunch usb_cam usb_cam-test.launch //啓動攝像頭
改rose.mono.cc 將話題改爲/usb_cam/image_raw
3)使用200mm方形的9x8棋盤爲單眼攝像機運行cameracalibrator.py節點：
rosrun camera_calibration cameracalibrator.py --size 9x8--square 0.02 image:=/usb_camera/image_raw camera:=/usb_camera 4)要運行立體攝像機的cameracalibrator.py節點：
rosrun camera_calibration cameracalibrator.py --size 9x8 --square 0.02 right:=/my_stereo/right/image_raw
left:=/my_stereo/left/image_raw left_camera:=/my_stereo/left right_camera:=/my_stereo/right
