First version rtabmap_launch working

rtabmap_legacy/launch/calibration/kinect2/506816242542/calib_color.yaml

@@ -0,0 +1,21 @@
+%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

@@ -0,0 +1,26 @@
+%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

@@ -0,0 +1,33 @@
+%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. ]