iKalibr v1.2.1 stable

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Version 1.2.1 » Refinement For Sensor Data IO & Open Discussion

The main changes in this version are:

• Add function RefineImgMsgWrongEncoding, to refine encoding type of images. Although the encoding type is clear, we found that some users set unreasonable encoding types for images, such as 8UC3 (which is an image storage format in OpenCV, different from the encoding type). Therefore, we added this function to correct this oversight to avoid users from making additional encoding type adjustments.

• Add inertial data type SENSOR_IMU_G_NEG for IMU. Some users store acceleration in G, but interestingly, some use -G. To save users from doing extra work, we support reading acceleration in -G.

• Add many examples of sensor kits calibrated with iKalibr to the Discussion module.

• Add ikalibr-bag-topic-downsample to downsample messages of a certain ros topic, and store them to a new rosbag.

  <launch>
      <!-- downsample messages of a rostopic and store them to a new rosbag -->
      <node pkg="ikalibr" type="ikalibr_bag_topic_downsample" name="ikalibr_bag_topic_downsample" output="screen">
          <!-- the input rosbag -->
          <param name="input_bag_path" value="../desk_fast/desk_fast1.synced.left_camera_30hz.bag"
                 type="string"/>
          <!-- the rostopic to down sampled -->
          <param name="topic_to_downsample" value="/camera/left/image_mono" type="string"/>
          <!-- the desired ros topic frequency -->
          <param name="desired_frequency" value="10" type="double"/>
          <!-- the output rosbag -->
          <param name="output_bag_path" value="../desk_fast/desk_fast1.synced.left_camera_10hz.bag"
                 type="string"/>
      </node>
  </launch>