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_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. ]