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_right
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image_width: 640
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image_height: 480
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camera_matrix:
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rows: 3
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cols: 3
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data: [ 5.3173015723615038e+02, 0., 3.0841183762414585e+02, 0.,
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5.3114393189729469e+02, 2.4247036103612575e+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: [ -3.2382605112765667e-01, 4.3067676369775459e-02,
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-1.0212741406694578e-03, 5.1816193644504472e-04,
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9.9965184406768520e-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: [ 9.9814647006952373e-01, -6.8031680948065307e-03,
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6.0487061768119681e-02, 1.4385945915416094e-03,
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9.9816794468879888e-01 ]
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projection_matrix:
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-5.9858566522579160e+01, 0., 5.0021545003868783e+02,
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2.4750019836425781e+02, 0., 0., 0., 1., 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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