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First version rtabmap_launch working

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matlabbe
2023-02-19 18:55:24 -08:00
parent 2f4aadacbb
commit 2dd931248e
418 changed files with 5304 additions and 3493 deletions
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rtabmap_legacy/launch/calibration/00b09d010081e00e_left.yaml
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image_width: 640
image_height: 480
camera_name: 00b09d010081e00e_left
camera_matrix:
rows: 3
cols: 3
data: [520.84106910681, 0, 320.207922533597, 0, 520.652683004955, 251.69140630101, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.344858300062205, 0.131731614744127, -0.00032220157418798, -0.000178643627395838, 0]
rectification_matrix:
rows: 3
cols: 3
data: [0.999977409119708, -0.00542294021453702, -0.00397151981806852, 0.00542696944573559, 0.999984769417176, 0.00100445821860056, 0.00396601221263954, -0.00102598884371095, 0.999991609011807]
projection_matrix:
rows: 3
cols: 4
data: [487.608731712861, 0, 318.1162109375, 0, 0, 487.608731712861, 249.44425201416, 0, 0, 0, 1, 0]
rtabmap_legacy/launch/calibration/00b09d010081e00e_right.yaml
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image_width: 640
image_height: 480
camera_name: 00b09d010081e00e_right
camera_matrix:
rows: 3
cols: 3
data: [525.042672813, 0, 315.778978739153, 0, 524.605377865008, 246.116481979902, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.350198880846778, 0.143262162037345, -0.000540958577710845, -0.000386869942974346, 0]
rectification_matrix:
rows: 3
cols: 3
data: [0.999991166299663, -0.00384047779504094, 0.00170823094047773, 0.00384221006573169, 0.999992106658553, -0.00101194980141688, -0.0017043310860856, 0.0010185042442697, 0.999998028950384]
projection_matrix:
rows: 3
cols: 4
data: [487.608731712861, 0, 318.1162109375, -58.3626989865376, 0, 487.608731712861, 249.44425201416, 0, 0, 0, 1, 0]
rtabmap_legacy/launch/calibration/depth_PS1080_PrimeSense.yaml
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image_width: 640
image_height: 480
camera_name: depth_PS1080_PrimeSense
camera_matrix:
rows: 3
cols: 3
data: [546.0500834384593, 0.0, 318.26543549764034, 0.0, 545.7495208147751, 235.530988776277, 0.0, 0.0, 1.0]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.02445400737474688, 0.015558351939314555, 0.0010451121492915797, -0.004270544037870965, 0.0]
rectification_matrix:
rows: 3
cols: 3
data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
rows: 3
cols: 4
data: [579.1331176757812, 0.0, 314.36071062675546, 0.0, 0.0, 580.1824340820312, 251.67534864987465, 0.0, 0.0, 0.0, 1.0, 0.0]
rtabmap_legacy/launch/calibration/distortion_model_PS1080.bin
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rtabmap_legacy/launch/calibration/distortion_model_PS1080.png
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rtabmap_legacy/launch/calibration/euroc_left.yaml
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#%YAML:1.0
---
camera_name: MH_01_easy_left
image_width: 752
image_height: 480
camera_matrix:
rows: 3
cols: 3
data: [ 4.5865400000000000e+02, 0., 3.6721499999999997e+02, 0.,
4.5729599999999999e+02, 2.4837500000000000e+02, 0., 0., 1. ]
distortion_coefficients:
rows: 1
cols: 4
data: [ -2.8340810999999999e-01, 7.3959070000000002e-02,
1.9358999999999999e-04, 1.7618711400000001e-05 ]
distortion_model: plumb_bob
rectification_matrix:
rows: 3
cols: 3
data: [ 9.9996634750298619e-01, -1.4227432298321767e-03,
8.0795831104762770e-03, 1.3657459036274155e-03,
9.9997417608074302e-01, 7.0556296505566432e-03,
-8.0894128132919258e-03, -7.0443575534647465e-03,
9.9994246755850658e-01 ]
projection_matrix:
rows: 3
cols: 4
data: [ 4.3520469597145990e+02, 0., 3.6745172119140625e+02, 0., 0.,
4.3520469597145990e+02, 2.5220085144042969e+02, 0., 0., 0., 1.,
0. ]
rtabmap_legacy/launch/calibration/euroc_right.yaml
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#%YAML:1.0
---
camera_name: MH_01_easy_right
image_width: 752
image_height: 480
camera_matrix:
rows: 3
cols: 3
data: [ 4.5758699999999999e+02, 0., 3.7999900000000002e+02, 0.,
4.5613400000000001e+02, 2.5523800000000000e+02, 0., 0., 1. ]
distortion_coefficients:
rows: 1
cols: 4
data: [ -2.8368365000000001e-01, 7.4512839999999997e-02,
-1.0473000000000000e-04, -3.5559070000000001e-05 ]
distortion_model: plumb_bob
rectification_matrix:
rows: 3
cols: 3
data: [ 9.9996335257946345e-01, -3.6258159819210472e-03,
7.7554468926514068e-03, 3.6804026836554193e-03,
9.9996847525904631e-01, -7.0358456623254633e-03,
-7.7296917225483383e-03, 7.0641309842873097e-03,
9.9994517345668066e-01 ]
projection_matrix:
rows: 3
cols: 4
data: [ 4.3520469597145990e+02, 0., 3.6745172119140625e+02,
-4.7906395664848930e+01, 0., 4.3520469597145990e+02,
2.5220085144042969e+02, 0., 0., 0., 1., 0. ]
rtabmap_legacy/launch/calibration/kinect2/506816242542/calib_color.yaml
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%YAML:1.0
cameraMatrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 1035.409658, 0., 953.629091, 0., 1036.265896, 550.972045, 0., 0., 1. ]
distortionCoefficients: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ 0.046857, -0.054802, 0.002446, -0.001013, 0. ]
rotation: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
projection: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ 1034.458862, 0., 949.608678, 0., 0., 1046.304565, 553.032416, 0., 0., 0., 1., 0., 0., 0., 0., 1. ]
rtabmap_legacy/launch/calibration/kinect2/506816242542/calib_ir.yaml
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%YAML:1.0
cameraMatrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 3.6979200177991152e+02, 0., 2.5040545556144602e+02, 0.,
3.6934874236487565e+02, 2.0812949708935565e+02, 0., 0., 1. ]
distortionCoefficients: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ 1.0599430434497996e-01, -2.7091691685678082e-01,
4.8231954365675019e-04, -3.1761820716379199e-05,
7.7492684133604814e-02 ]
rotation: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
projection: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ 3.6979200177991152e+02, 0., 2.5040545556144602e+02, 0., 0.,
3.6934874236487565e+02, 2.0812949708935565e+02, 0., 0., 0., 1.,
0., 0., 0., 0., 1. ]
rtabmap_legacy/launch/calibration/kinect2/506816242542/calib_pose.yaml
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%YAML:1.0
rotation: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 9.9998557008106792e-01, 1.2305561691822327e-03,
-5.2292792195576393e-03, -1.3388135514396061e-03,
9.9978381286062756e-01, -2.0749340233854399e-02,
5.2026154880109553e-03, 2.0756041852440336e-02,
9.9977103354653341e-01 ]
translation: !!opencv-matrix
rows: 3
cols: 1
dt: d
data: [ -5.1351463516082281e-02, 2.3299760970435590e-03,
-1.6640325723173980e-02 ]
essential: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ -1.0156323849380249e-05, 1.6685089380143084e-02,
1.9841668306476608e-03, -1.6372923685201993e-02,
1.0453762704480134e-03, 5.1426722663111546e-02,
-2.2611924404357772e-03, -5.1343229156542415e-02,
1.0776930835878881e-03 ]
fundamental: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ -4.8742459614193642e-09, 8.0171558549327292e-06,
-1.3152531820940182e-03, -7.8512380180953911e-06,
5.0188640603529770e-07, 1.0980767538413172e-02,
3.2068378477732255e-03, -3.3465816946061419e-02, 1. ]
rtabmap_legacy/launch/calibration/kinect2/README.txt
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Kinect v2 calibration:
Copy "506816242542" folder in "~/catkin_ws/src/iai_kinect2/kinect2_bridge/data"
The number is the Kinect serial shown when launching kinect2_brige:
...
[Freenect2Impl] enumerating devices...
[Freenect2Impl] 12 usb devices connected
[Freenect2Impl] found valid Kinect v2 @4:3 with serial 506816242542
[Freenect2Impl] found 1 devices
Kinect2 devices found:
0: 506816242542 (selected)
...
rtabmap_legacy/launch/calibration/rgb_PS1080_PrimeSense.yaml
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image_width: 640
image_height: 480
camera_name: rgb_PS1080_PrimeSense
camera_matrix:
rows: 3
cols: 3
data: [546.0500834384593, 0.0, 318.26543549764034, 0.0, 545.7495208147751, 235.530988776277, 0.0, 0.0, 1.0]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [0.07270573116068803, -0.18543929362134534, -0.0011832045804703304, -0.0034080201993029564, 0.0]
rectification_matrix:
rows: 3
cols: 3
data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
rows: 3
cols: 4
data: [546.8461303710938, 0.0, 315.7269048503658, 0.0, 0.0, 549.0361938476562, 234.61483550908815, 0.0, 0.0, 0.0, 1.0, 0.0]