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