With our camera driver running, we can use the calibration tool of ROS to calibrate it. It is important that the camera driver provides CameraInfo messages and has the camera_info_set service, which allows you to set the path to the calibration results file. Later, this calibration information is loaded by the image pipeline when using the camera. One camera driver that satisfies these prerequisites is the camera1394 driver for the FireWire cameras. In order to calibrate your FireWire camera, use the following command:
$ roslaunch chapter5_tutorialscalibration_firewire_camera_ chessboard.launch
This will open a GUI that automatically selects the views of our calibration pattern and provides bars to inform users ...
