标定+USB摄像头启动

src/car_usb_cam/config/usb_camera_calibration.yaml

@@ -0,0 +1,30 @@
+image_width: 1920
+image_height: 1080
+camera_name: usb_camera
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [281.59527801, 0.0, 364.60571628,
+         0.0, 285.67845685, 204.92614855,
+         0.0, 0.0, 1.0]
+
+distortion_model: plumb_bob
+
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [ 0.03532389,-0.05576607, 0.00027529, 0.00241747, 0.01024998]
+
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1.0, 0.0, 0.0,
+         0.0, 1.0, 0.0,
+         0.0, 0.0, 1.0]
+
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [281.59527801, 0.0, 364.60571628, 0.0,
+         0.0, 285.67845685, 204.92614855, 0.0,
+         0.0, 0.0, 1.0, 0.0]