calibration_gaezebo
1、标定
roslaunch husky_gazebo husky_user_world.launch
roslaunch velo2cam_calibration mono_pattern.launch camera_name:=/realsense/color image_topic:=image_raw frame_name:=camera_realsense_gazebo
roslaunch velo2cam_calibration lidar_pattern.launch cloud_topic:=/velodyne_points（滤波） x 06 y -1.71.7 z -0.5~6
roslaunch velo2cam_calibration registration.launch sensor1_type:=mono sensor2_type:=lidar
2、点云融合 roslaunch husky_gazebo husky_playpen.launch
fusion/buid ./pcl_fuison