VINS-Fusion安装测试

最新推荐文章于 2024-06-15 14:55:04 发布

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最新推荐文章于 2024-06-15 14:55:04 发布

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VINS-Fusion安装测试

https://github.com/HKUST-Aerial-Robotics/VINS-Fusion

官网上的指导

在这里插入图片描述

Ceres安装

首先安装依赖项

# CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev libgflags-dev
# Use ATLAS for BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse (optional)
sudo apt-get install libsuitesparse-dev

安装好依赖后即可编译安装Ceres

tar zxf ceres-solver-2.1.0.tar.gz
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver-2.1.0
make -j3
make test
# Optionally install Ceres, it can also be exported using CMake which
# allows Ceres to be used without requiring installation, see the documentation
# for the EXPORT_BUILD_DIR option for more information.
sudo make install

报Eigen的错

redwall@redwall-G3-3500:~/3rd_party/ceres-solver-2.1.0/build$ cmake ..
-- Detected Ceres version: 2.1.0 from /home/redwall/3rd_party/ceres-solver-2.1.0/include/ceres/version.h
-- Detected available Ceres threading models: [CXX_THREADS, OPENMP, NO_THREADS]
CMake Error at CMakeLists.txt:207 (find_package):
  By not providing "FindEigen3.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "Eigen3", but
  CMake did not find one.

  Could not find a package configuration file provided by "Eigen3" (requested
  version 3.3) with any of the following names:

    Eigen3Config.cmake
    eigen3-config.cmake

  Add the installation prefix of "Eigen3" to CMAKE_PREFIX_PATH or set
  "Eigen3_DIR" to a directory containing one of the above files.  If "Eigen3"
  provides a separate development package or SDK, be sure it has been
  installed.

-- Configuring incomplete, errors occurred!
See also "/home/redwall/3rd_party/ceres-solver-2.1.0/build/CMakeFiles/CMakeOutput.log".
See also "/home/redwall/3rd_party/ceres-solver-2.1.0/build/CMakeFiles/CMakeError.log".

之前好像也遇到过，卸载安装不同版本Eigen导致，解决起来还挺复杂的，找记录还挺麻烦
索性直接卸载libeigen3-dev，但会跟着卸载很多包，注意记录下来重新安装

VINS-Fusion编译安装

cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

报glags的错

/usr/bin/ld: /usr/local/lib/libgflags.a(gflags.cc.o): relocation R_X86_64_32S against `.rodata' can not be used when making a PIE object; recompile with -fPIC
/usr/bin/ld: /usr/local/lib/libgflags.a(gflags_reporting.cc.o): relocation R_X86_64_32 against `.rodata.str1.1' can not be used when making a PIE object; recompile with -fPIC
/usr/bin/ld: /usr/local/lib/libgflags.a(gflags_completions.cc.o): relocation R_X86_64_32 against `.rodata.str1.1' can not be used when making a PIE object; recompile with -fPIC
/usr/bin/ld: 最后的链结失败: 输出不可表示的节
collect2: error: ld returned 1 exit status

主要原因是 gflags 编译默认不是共享库，需要保证 gflags 编译成共享库
因此需要重新编译 gflags, 并重新安装 gflags

cd build/
cmake .. -DBUILD_SHARED_LIBS=ON
make
sudo make  install

KITTI数据集下载

KITTI数据集原始数据（raw_data）下载地址

下载KITTI数据集raw data的Python脚本

双目测距系列（四）初识KITTI数据集

整个数据集大小约为183G，解压完也是183G

官网要翻墙才能下载，有些百度网盘的资源也不是需要的

https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_calib.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0001/2011_09_26_drive_0001_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0002/2011_09_26_drive_0002_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0005/2011_09_26_drive_0005_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0009/2011_09_26_drive_0009_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0011/2011_09_26_drive_0011_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0013/2011_09_26_drive_0013_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0014/2011_09_26_drive_0014_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0015/2011_09_26_drive_0015_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0017/2011_09_26_drive_0017_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0018/2011_09_26_drive_0018_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0019/2011_09_26_drive_0019_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0020/2011_09_26_drive_0020_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0022/2011_09_26_drive_0022_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0023/2011_09_26_drive_0023_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0027/2011_09_26_drive_0027_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0028/2011_09_26_drive_0028_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0029/2011_09_26_drive_0029_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0032/2011_09_26_drive_0032_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0035/2011_09_26_drive_0035_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0036/2011_09_26_drive_0036_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0039/2011_09_26_drive_0039_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0046/2011_09_26_drive_0046_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0048/2011_09_26_drive_0048_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0051/2011_09_26_drive_0051_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0052/2011_09_26_drive_0052_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0056/2011_09_26_drive_0056_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0057/2011_09_26_drive_0057_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0059/2011_09_26_drive_0059_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0060/2011_09_26_drive_0060_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0061/2011_09_26_drive_0061_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0064/2011_09_26_drive_0064_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0070/2011_09_26_drive_0070_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0079/2011_09_26_drive_0079_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0084/2011_09_26_drive_0084_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0086/2011_09_26_drive_0086_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0087/2011_09_26_drive_0087_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0091/2011_09_26_drive_0091_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0093/2011_09_26_drive_0093_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0095/2011_09_26_drive_0095_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0096/2011_09_26_drive_0096_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0101/2011_09_26_drive_0101_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0104/2011_09_26_drive_0104_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0106/2011_09_26_drive_0106_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0113/2011_09_26_drive_0113_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0117/2011_09_26_drive_0117_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0119/2011_09_26_drive_0119_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_calib.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0001/2011_09_28_drive_0001_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0002/2011_09_28_drive_0002_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0016/2011_09_28_drive_0016_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0021/2011_09_28_drive_0021_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0034/2011_09_28_drive_0034_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0035/2011_09_28_drive_0035_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0037/2011_09_28_drive_0037_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0038/2011_09_28_drive_0038_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0039/2011_09_28_drive_0039_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0043/2011_09_28_drive_0043_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0045/2011_09_28_drive_0045_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0047/2011_09_28_drive_0047_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0053/2011_09_28_drive_0053_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0054/2011_09_28_drive_0054_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0057/2011_09_28_drive_0057_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0065/2011_09_28_drive_0065_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0066/2011_09_28_drive_0066_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0068/2011_09_28_drive_0068_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0070/2011_09_28_drive_0070_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0071/2011_09_28_drive_0071_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0075/2011_09_28_drive_0075_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0077/2011_09_28_drive_0077_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0078/2011_09_28_drive_0078_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0080/2011_09_28_drive_0080_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0082/2011_09_28_drive_0082_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0086/2011_09_28_drive_0086_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0087/2011_09_28_drive_0087_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0089/2011_09_28_drive_0089_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0090/2011_09_28_drive_0090_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0094/2011_09_28_drive_0094_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0095/2011_09_28_drive_0095_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0096/2011_09_28_drive_0096_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0098/2011_09_28_drive_0098_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0100/2011_09_28_drive_0100_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0102/2011_09_28_drive_0102_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0103/2011_09_28_drive_0103_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0104/2011_09_28_drive_0104_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0106/2011_09_28_drive_0106_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0108/2011_09_28_drive_0108_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0110/2011_09_28_drive_0110_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0113/2011_09_28_drive_0113_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0117/2011_09_28_drive_0117_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0119/2011_09_28_drive_0119_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0121/2011_09_28_drive_0121_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0122/2011_09_28_drive_0122_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0125/2011_09_28_drive_0125_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0126/2011_09_28_drive_0126_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0128/2011_09_28_drive_0128_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0132/2011_09_28_drive_0132_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0134/2011_09_28_drive_0134_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0135/2011_09_28_drive_0135_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0136/2011_09_28_drive_0136_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0138/2011_09_28_drive_0138_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0141/2011_09_28_drive_0141_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0143/2011_09_28_drive_0143_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0145/2011_09_28_drive_0145_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0146/2011_09_28_drive_0146_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0149/2011_09_28_drive_0149_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0153/2011_09_28_drive_0153_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0154/2011_09_28_drive_0154_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0155/2011_09_28_drive_0155_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0156/2011_09_28_drive_0156_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0160/2011_09_28_drive_0160_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0161/2011_09_28_drive_0161_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0162/2011_09_28_drive_0162_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0165/2011_09_28_drive_0165_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0166/2011_09_28_drive_0166_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0167/2011_09_28_drive_0167_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0168/2011_09_28_drive_0168_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0171/2011_09_28_drive_0171_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0174/2011_09_28_drive_0174_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0177/2011_09_28_drive_0177_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0179/2011_09_28_drive_0179_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0183/2011_09_28_drive_0183_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0184/2011_09_28_drive_0184_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0185/2011_09_28_drive_0185_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0186/2011_09_28_drive_0186_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0187/2011_09_28_drive_0187_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0191/2011_09_28_drive_0191_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0192/2011_09_28_drive_0192_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0195/2011_09_28_drive_0195_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0198/2011_09_28_drive_0198_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0199/2011_09_28_drive_0199_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0201/2011_09_28_drive_0201_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0204/2011_09_28_drive_0204_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0205/2011_09_28_drive_0205_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0208/2011_09_28_drive_0208_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0209/2011_09_28_drive_0209_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0214/2011_09_28_drive_0214_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0216/2011_09_28_drive_0216_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0220/2011_09_28_drive_0220_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0222/2011_09_28_drive_0222_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_28_drive_0225/2011_09_28_drive_0225_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_29_calib.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_29_drive_0004/2011_09_29_drive_0004_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_29_drive_0026/2011_09_29_drive_0026_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_29_drive_0071/2011_09_29_drive_0071_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_29_drive_0108/2011_09_29_drive_0108_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_30_calib.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_30_drive_0016/2011_09_30_drive_0016_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_30_drive_0018/2011_09_30_drive_0018_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_30_drive_0020/2011_09_30_drive_0020_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_30_drive_0027/2011_09_30_drive_0027_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_30_drive_0028/2011_09_30_drive_0028_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_30_drive_0033/2011_09_30_drive_0033_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_30_drive_0034/2011_09_30_drive_0034_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_30_drive_0072/2011_09_30_drive_0072_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_10_03_calib.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_10_03_drive_0027/2011_10_03_drive_0027_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_10_03_drive_0034/2011_10_03_drive_0034_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_10_03_drive_0042/2011_10_03_drive_0042_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_10_03_drive_0047/2011_10_03_drive_0047_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_10_03_drive_0058/2011_10_03_drive_0058_sync.zip

实测Python脚本无法下载，用迅雷可以快速下载，网速问题，下载速度在2M/s左右

在这里插入图片描述

KITTI数据集是一台载有4个摄像头，一台Velodyne 3D激光雷达以及一台GPS/IMU(导航设备，其品牌为OXTS)的车子行驶在道路所采集得到的数据集

理解了这个，再回头看上面的图，就可以知道上面每个目录对应一个传感器所采集的数据

子目录image_00/01/02/03里面都是对应4个sensor所拍的png照片。00和01对应的是左、右两个灰度摄像头，02和03对应另外两个左、右彩色摄像头。需要注意的是，左右两个摄像头的照片已经严格对齐
了的
velodyne_points是雷达所采集数据集，都是bin文件，方便软件工具读取。有多少张照片，对应就有多少个bin文件。bin里面都是每个像素的实际坐标值(x,y,z,r)。由于雷达坐标系的x轴是向前的，所以其x值反映了深度
剩下的4个txt文件是传感器之间的外参

测试运行

roslaunch vins vins_rviz.launch
rosrun vins kitti_gps_test ~/catkin_ws/src/VINS-Fusion/config/kitti_raw/kitti_10_03_config.yaml YOUR_DATASET_FOLDER/2011_10_03_drive_0027_sync/ 
rosrun global_fusion global_fusion_node