Merge branch 'noetic-devel' of github.com:lardemua/atom into noetic-d…

…evel

atom_evaluation/scripts/other_calibrations/kalibr_camchain_files/example.yaml

@@ -0,0 +1,31 @@
+cam0:
+  camera_model: pinhole
+  intrinsics: [461.629, 460.152, 362.680, 246.049]
+  distortion_model: radtan
+  distortion_coeffs: [-0.27695497, 0.06712482, 0.00087538, 0.00011556]
+  T_cam_imu:
+  - [0.01779318, 0.99967549,-0.01822936, 0.07008565]
+  - [-0.9998017, 0.01795239, 0.00860714,-0.01771023]
+  - [0.00893160, 0.01807260, 0.99979678, 0.00399246]
+  - [0.0, 0.0, 0.0, 1.0]
+  timeshift_cam_imu: -8.121e-05
+  rostopic: /cam0/image_raw
+  resolution: [752, 480]
+cam1:
+  camera_model: omni
+  intrinsics: [0.80065662, 833.006, 830.345, 373.850, 253.749]
+  distortion_model: radtan
+  distortion_coeffs: [-0.33518750, 0.13211436, 0.00055967, 0.00057686]
+  T_cn_cnm1:
+  - [ 0.99998854, 0.00216014, 0.00427195,-0.11003785]
+  - [-0.00221074, 0.99992702, 0.01187697, 0.00045792]
+  - [-0.00424598,-0.01188627, 0.99992034,-0.00064487]
+  - [0.0, 0.0, 0.0, 1.0]
+  T_cam_imu:
+  - [ 0.01567142, 0.99978002,-0.01393948,-0.03997419]
+  - [-0.99966203, 0.01595569, 0.02052137,-0.01735854]
+  - [ 0.02073927, 0.01361317, 0.99969223, 0.00326019]
+  - [0.0, 0.0, 0.0, 1.0]
+  timeshift_cam_imu: -8.681e-05
+  rostopic: /cam1/image_raw
+  resolution: [752, 480]