feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
@@ -0,0 +1,30 @@
+#%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. ]