* @brief Config ceres optimzior and solve non-linear least-square optimzation problem. * @param problem is ceres optimization problem. * @return

Quadrilateral geometry for tag generation from four vertex points Args: id (_type_): tag id c (list, optional): tag g

Gets the real path of a (relative) path. Can handle ".", ".." and links. Doesn't work properly if the path in relative_path doesn't exist.

Wait for the mapped command to return. During the waiting, if there is network error or remote server restarts, the wait will be tried once again.

* @brief Write mono-camera parameters * * @param file_name is the output yaml file name. * @param mono_param is the monocular camera parameters. *

Returns: job_id, ok job_id, True for successful remote map job_id, False for unsuccessful remote map "", False for cannot connect to the rem

@see https://stackoverflow.com/questions/33333363/built-in-mod-vs-custom-mod-function-improve-the-performance-of-modulus-op/33333636#33333636

filter pointcloud, delete points far from the center of the tags Args: dist (float, optional): distance threshold. Defaults to 2.

Obtain the 3D coordinates of the corners through the depth of point cloud rendering Args: im (_type_): image of point cloud rende

* @brief parse kalibr yaml file support: pinhole + equidistant * * @param kalib_intrin_file * @param camera Camera Model param */

A unified function to map a list of command-line commands to either remote servers or a local machine. This function will first try to map the comm

A function to execute a command locally. Because this function will run the command natively, the command will not be logged in the zrpc system. Con