VINS-Mono运行结果

運行命令: roslaunch vins_estimator euroc.launch
實時查看運行結果命令: roslaunch vins_estimator vins_rviz.launch

 roslaunch vins_estimator euroc.launch 
... logging to /home/liuchaoqun/.ros/log/10598356-ebe5-11ee-9c31-317ce7c4a2bd/roslaunch-Precision-3630-Tower-108419.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://Precision-3630-Tower:40291/

SUMMARY
========

PARAMETERS
 * /feature_tracker/config_file: /home/liuchaoqun/...
 * /feature_tracker/vins_folder: /home/liuchaoqun/...
 * /pose_graph/config_file: /home/liuchaoqun/...
 * /pose_graph/skip_cnt: 0
 * /pose_graph/skip_dis: 0.0
 * /pose_graph/visualization_shift_x: 0
 * /pose_graph/visualization_shift_y: 0
 * /rosdistro: noetic
 * /rosversion: 1.15.15
 * /vins_estimator/config_file: /home/liuchaoqun/...
 * /vins_estimator/vins_folder: /home/liuchaoqun/...

NODES
  /
    feature_tracker (feature_tracker/feature_tracker)
    pose_graph (pose_graph/pose_graph)
    vins_estimator (vins_estimator/vins_estimator)

ROS_MASTER_URI=http://localhost:11311

process[feature_tracker-1]: started with pid [108432]
process[vins_estimator-2]: started with pid [108433]
process[pose_graph-3]: started with pid [108434]
[I] [1712039825.538]: init begins
[I] [1712039825.544]: Loaded config_file: /home/liuchaoqun/catkin_ws/src/VINS-Mono/feature_tracker/../config/euroc/euroc_config.yaml
result path /home/liuchaoqun/output//vins_result_no_loop.csv
[I] [1712039825.545]: ROW: 480.000000 COL: 752.000000 
[W] [1712039825.545]:  fix extrinsic param 
vocabulary_file/home/liuchaoqun/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_k10L6.bin
[I] [1712039825.592]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
[I] [1712039825.592]: Extrinsic_T : 
-0.0216401  -0.064677 0.00981073
[I] [1712039825.592]: Synchronized sensors, fix time offset: 0
[W] [1712039825.592]: waiting for image and imu...
loop start load vocabulary
BRIEF_PATTERN_FILE/home/liuchaoqun/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_pattern.yml
no previous pose graph
[W] [1712039833.097]: gyroscope bias initial calibration -0.00193261   0.0482494   0.0797451
[I] [1712039833.122]: Initialization finish!
position: -0.059159, -0.062025, 0.0756optimize pose graph 
optimize pose graph 
position: 0.017570, -0.010151, optimize pose graph 
position: 0.168293, -optimize pose graph 
position: 0.182072, -0optimize pose graph 
positioptimize pose graph 968, 0.253910
position: 1.115795, -1.152648,optimize pose graph 
position: 5.737406, -3.965460, -0.55optimize pose graph 
position: 6.269859, -3.983060, -0.6optimize pose graph 
position: 5.624631, -3.439987, -0.optimize pose graph 
position: 8.656470, -6.907002,optimize pose graph 
position: 10.254444, -6.optimize pose graph 
optimize pose graph 
posoptimize pose graph 446204, -1.3223056
poptimize pose graph 4.441086, -1.291719
position: 5.396193, -4.244171, -1.422481optimize pose graph 
position: 4.792515, -4.120773, -1.14923optimize pose graph 
position: 4.023220, -3.910399, -0.5971optimize pose graph 
position: 2.119280, -3.124294, -0.47optimize pose graph 
position: 1.185990, -2.497638, -0.1optimize pose graph 
posoptimize pose graph 015792, 0.0576727
posioptimize pose graph 27749, -0.614646
optimize pose graph -2.691400, -0.471947
positionoptimize pose graph 0, 0.0059107
position: 1.043798, -1.387731, 0optimize pose graph 
optimize pose graph 
positionoptimize pose graph 54, 0.302255
position: -0.449312, 0.15optimize pose graph