能否提供python版本的相机-底盘的手眼标定程序？

当然可以，以下是基于OpenCV和ROS的Python版本相机-底盘手眼标定程序，前提是你已经安装好了OpenCV和ROS环境：

#!/usr/bin/env python
import rospy
import cv2
import numpy as np
from cv_bridge import CvBridge
from sensor_msgs.msg import Image, CameraInfo
from geometry_msgs.msg import Pose, PoseStamped
from tf.transformations import quaternion_from_matrix
import tf2_ros
from tf2_geometry_msgs import PoseStamped as TF2PoseStamped

class Calibrator:
    def __init__(self):
        # 初始化ROS节点
        rospy.init_node('calibrator')
        # 订阅相机图像和相机信息
        self.image_sub = rospy.Subscriber('/camera/image_raw', Image, self.image_callback)
        self.camera_info_sub = rospy.Subscriber('/camera/camera_info', CameraInfo, self.camera_info_callback)
        # 发布相机位姿
        self.pose_pub = rospy.Publisher('/camera_pose', PoseStamped, queue_size=1)
        # 定义相机内参矩阵和畸变系数
        self.camera_matrix = None
        self.dist_coeffs = None
        # 定义相机位姿
        self.camera_pose = None
        # 定义OpenCV的图像转换器
        self.bridge = CvBridge()
        # 定义tf2转换器
        self.tf_buffer = tf2_ros.Buffer()
        self.tf_listener = tf2_ros.TransformListener(self.tf_buffer)

    def image_callback(self, data):
        try:
            # 将ROS图像转换为OpenCV图像
            cv_image = self.bridge.imgmsg_to_cv2(data, 'bgr8')
            # 进行相机-底盘标定
            if self.camera_matrix is not None and self.dist_coeffs is not None and self.camera_pose is not None:
                object_points = np.array([[0, 0, 0], [1, 0, 0], [0, 1, 0], [0, 0, 1]], dtype=np.float32)
                image_points = np.array([[287, 146], [367, 146], [287, 225], [327, 186]], dtype=np.float32)
                _, rvec, tvec = cv2.solvePnP(object_points, image_points, self.camera_matrix, self.dist_coeffs)
                rotation_matrix, _ = cv2.Rodrigues(rvec)
                transform_matrix = np.zeros((4, 4))
                transform_matrix[:3, :3] = rotation_matrix
                transform_matrix[:3, 3] = tvec.flatten()
                transform_matrix[3, 3] = 1
                camera_pose = np.matmul(self.camera_pose, transform_matrix)
                # 将相机位姿发布到ROS系统中
                pose_msg = PoseStamped()
                pose_msg.header.stamp = rospy.Time.now()
                pose_msg.header.frame_id = 'map'
                pose_msg.pose.position.x = camera_pose[0, 3]
                pose_msg.pose.position.y = camera_pose[1, 3]
                pose_msg.pose.position.z = camera_pose[2, 3]
                quaternion = quaternion_from_matrix(camera_pose)
                pose_msg.pose.orientation.x = quaternion[0]
                pose_msg.pose.orientation.y = quaternion[1]
                pose_msg.pose.orientation.z = quaternion[2]
                pose_msg.pose.orientation.w = quaternion[3]
                self.pose_pub.publish(pose_msg)
        except Exception as e:
            rospy.logerr('Failed to process image: %s', str(e))

    def camera_info_callback(self, data):
        # 如果相机内参矩阵和畸变系数已经设置，则立即返回
        if self.camera_matrix is not None and self.dist_coeffs is not None:
            return
        try:
            # 获取相机内参矩阵和畸变系数
            self.camera_matrix = np.array(data.K).reshape((3, 3))
            self.dist_coeffs = np.array(data.D)
            # 获取相机坐标系到底盘坐标系的变换矩阵
            trans = self.tf_buffer.lookup_transform('base_link', data.header.frame_id, rospy.Time(0), rospy.Duration(1.0))
            self.camera_pose = np.zeros((4, 4))
            self.camera_pose[0, 0] = 1
            self.camera_pose[1, 1] = 1
            self.camera_pose[2, 2] = 1
            self.camera_pose[3, 3] = 1
            self.camera_pose[0, 3] = trans.transform.translation.x
            self.camera_pose[1, 3] = trans.transform.translation.y
            self.camera_pose[2, 3] = trans.transform.translation.z
            quaternion = [trans.transform.rotation.x, trans.transform.rotation.y, trans.transform.rotation.z, trans.transform.rotation.w]
            rotation_matrix = np.array(np.matrix(tf2_ros.transformations.quaternion_matrix(quaternion))[:3, :3])
            self.camera_pose[:3, :3] = rotation_matrix
        except Exception as e:
            rospy.logerr('Failed to get camera info or transform: %s', str(e))

    def run(self):
        # 循环等待ROS消息
        rospy.spin()

if __name__ == '__main__':
    calibrator = Calibrator()
    calibrator.run()

需要注意的是，这个程序中的标定板是一个4x4的正方形，四个点的坐标分别为(0,0,0)、(1,0,0)、(0,1,0)和(0,0,1)，在实际使用时，需要根据实际情况更改标定板的大小和坐标。