GVINS视觉里程计、GNSS数据输出与保存位置

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视觉里程计结果输出

estimator\src\utility\visualization.cpp pubOdometry函数中（第151行）

        // write result to file
        ofstream foutC(VINS_RESULT_PATH, ios::app);
        foutC.setf(ios::fixed, ios::floatfield);
        foutC.precision(0);
        foutC << header.stamp.toSec() * 1e9 << ",";
        foutC.precision(5);
        foutC << estimator.Ps[WINDOW_SIZE].x() << ","
              << estimator.Ps[WINDOW_SIZE].y() << ","
              << estimator.Ps[WINDOW_SIZE].z() << ","
              << tmp_Q.w() << ","
              << tmp_Q.x() << ","
              << tmp_Q.y() << ","
              << tmp_Q.z() << ","
              << estimator.Vs[WINDOW_SIZE].x() << ","
              << estimator.Vs[WINDOW_SIZE].y() << ","
              << estimator.Vs[WINDOW_SIZE].z() << "," << endl;
        foutC.close();

GNSS结果输出

estimator\src\utility\visualization.cpp pubGnssResult函数中（第237行）

    // write GNSS result to file
    ofstream gnss_output(GNSS_RESULT_PATH, ios::app);
    gnss_output.setf(ios::fixed, ios::floatfield);
    gnss_output.precision(0);
    gnss_output << header.stamp.toSec() * 1e9 << ',';
    gnss_output << gnss_ts * 1e9 << ',';
    gnss_output.precision(5);
    gnss_output << estimator.ecef_pos(0) << ','
                << estimator.ecef_pos(1) << ','
                << estimator.ecef_pos(2) << ','
                << estimator.yaw_enu_local << ','
                << estimator.para_rcv_dt[(WINDOW_SIZE)*4+0] << ','
                << estimator.para_rcv_dt[(WINDOW_SIZE)*4+1] << ','
                << estimator.para_rcv_dt[(WINDOW_SIZE)*4+2] << ','
                << estimator.para_rcv_dt[(WINDOW_SIZE)*4+3] << ','
                << estimator.para_rcv_ddt[WINDOW_SIZE] << ','
                << estimator.anc_ecef(0) << ','
                << estimator.anc_ecef(1) << ','
                << estimator.anc_ecef(2) << '\n';
    gnss_output.close();

文件保存位置

home下output文件