mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
matlabbeandmathieu86
11edc01d6a
* rtabmap_odom tests and doc * opengv note * added ci checks or humble-latest flaky dep cmake errors * Added real data tests for rgbd_odom and stereo_odom * added real data for icp_odometry's deskewing test * fixing json cmake error on lyrical/rolling * test 2d icp odom deskewing branch * first review of existing OdometryROS tests * testing with imu used as guess * tested imu arrivals sync * Fixed odom reset on right pose when guess frame id is used * fixing header errors in ci >=lyrical * Added support for input rgbd_image topic with features for odom, added multicam rgbd_odometry test * Added stereo odom support for features-only frames. Added multicam stereo tests. * forcing latest rtabmap version * updated OdometryROS API * ci: dont build non-latest docker in pull requests * splitting docker jobs * doc edit * Making publish_null_when_lost:=false continous when guess is provided (using guess covariance when we cannot register yet) * updated stereo doc * ficing rolling ci (rviz Ogre header) * Added test coverage of alll rgbd_image callbacks * fixing rolling ci * making docker ci build/run the tests on pull requests * fixing ros2 ci testing * improved sync callback coverage * improving stereo_odometry test coverage * improved icp_odometry test coverage * lyrical voxel_grid ptr error * make multicam tests working as well without opengv * removing deps of missing packages on rolling * PCL empty cloud conversion compiler errors fix * fixing icp_odometry test failure on ci witohut libpointmatcher * fixing nav2 costmap plugin build on lyrical * joining thread when exiting * updating icp test to work the same on pcl 1.15 (lyrical) * Fix parallel tests seg fault --------- Co-authored-by: mathieu86 <[email protected]>
35 lines
1.1 KiB
YAML
35 lines
1.1 KiB
YAML
#%YAML:1.0
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camera_name: stereo_tutorial_left
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image_width: 640
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image_height: 480
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camera_matrix:
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cols: 3
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data: [ 5.2500741669069100e+02, 0., 3.1964931134995413e+02, 0.,
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5.2447137699104690e+02, 2.4893842459131687e+02, 0., 0., 1. ]
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distortion_coefficients:
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rows: 1
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cols: 5
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data: [ -3.4256158963391159e-01, 1.5067561187251743e-01,
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-1.1171618396794343e-03, -1.1496904882258663e-03,
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-3.4792309849001175e-02 ]
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distortion_model: plumb_bob
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rectification_matrix:
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rows: 3
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cols: 3
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data: [ 9.9847710457215999e-01, -7.5204006718293083e-03,
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5.4640237610064049e-02, -1.8500160368176528e-03,
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9.9850439251641721e-01 ]
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projection_matrix:
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rows: 3
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data: [ 5.0021545003868783e+02, 0., 3.5945997238159180e+02, 0., 0.,
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5.0021545003868783e+02, 2.4750019836425781e+02, 0., 0., 0., 1.,
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0. ]
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local_transform:
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rows: 3
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cols: 4
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data: [ 0., 0., 1., 0., -1., 0., 0., 0., 0., -1., 0., 0. ]
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