前提
安装Eigen3.3.7
安装ceres1.14.0
参考博客
ceres别装2.0版本,装1.4
开始装的2.0遇到错误error: ‘integer_sequence’ is not a member of ‘std’ struct SumImpl<std::integer_sequence<T, N, Ns…>>
教程
安装Ros
编译
新建工作空间 mkdir -p ~/catkin_vinsfusion_ws/src
可以去gitee下载vinsfusion的镜像,解压后把文件夹放在/catkin_vinsfusion_ws/src下
在/catkin_vinsfusion_ws/下 打开终端 运行
catkin make
source ~/catkin_vinsfusion_ws/devel/setup.bash
运行
(1)
/catkin_vinsfusion_ws/打开一个终端,运行
source ~/catkin_vinsfusion_ws/devel/setup.bash
roslaunch vins vins_rviz.launch
(2)
/catkin_vinsfusion_ws/打开一个终端,运行
source ~/catkin_vinsfusion_ws/devel/setup.bash
rosrun vins vins_node ~/catkin_vinsfusion_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml
(3)
/catkin_vinsfusion_ws/打开一个终端,运行(回环检测)
source ~/catkin_vinsfusion_ws/devel/setup.bash
rosrun loop_fusion loop_fusion_node ~/catkin_vinsfusion_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml
(4)
/catkin_vinsfusion_ws/打开一个终端,运行
source ~/catkin_vinsfusion_ws/devel/setup.bash
rosbag play /home/pl/DataSet/EUROC/MH_02_easy.bag
实验结果
(1)无回环
(2)有回环
有回环
绿色的是无回环
红色的是有回环