Vins-fusion 针对数据集Kaist进行修改Kimera_vio_ros针对DBOW2--CATKIN的修改

1.config文件：realsense_stereo_imu_config.yaml
更改：gt_topic: "/pose_transformed" 增加真值topic
修改代码：rosNodeTest.cpp:

void odomGT_callback(const geometry_msgs::PoseStamped::ConstPtr &odom_msg)
{
    // printf("pose t: %f, %f, %f   q: %f, %f, %f %f \n", odom_msg->pose.position.x,
    //                                                    odom_msg->pose.position.y,
    //                                                    odom_msg->pose.position.z,
    //                                                    odom_msg->pose.orientation.x,
    //                                                    odom_msg->pose.orientation.y,
    //                                                    odom_msg->pose.orientation.z,
    //                                                    odom_msg->pose.orientation.w);
    
    string odomGT_path = OUTPUT_FOLDER + "GroundTruth.txt";
    std::ofstream foutGT(odomGT_path, ios::app);
    foutGT.setf(ios::fixed, ios::floatfield);
    foutGT.precision(0);
    foutGT << odom_msg->header.stamp << " ";
    foutGT.precision(5);
    foutGT << odom_msg->pose.position.x << " "
           << odom_msg->pose.position.y << " "
           << odom_msg->pose.position.z << " "
           << odom_msg->pose.orientation.x << " "
           << odom_msg->pose.orientation.y << " "
           << odom_msg->pose.orientation.z << " "
           << odom_msg->pose.orientation.w << endl;
    foutGT.close();

 string odomGT_path = OUTPUT_FOLDER + "GroundTruth.txt";
    std::ofstream foutGT(odomGT_path, std::ios::out);
    foutGT.close();
    ros::Subscriber sub_odomGT = n.subscribe(GT_TOPIC, 2000, odomGT_callback);

Kimera_VIO_ROS_ws 安装过程中报dbow2_catkin错误：

2.修改步骤：kimera_ＶＩＯ_ROS_WS/src/dbow2_catkin/CMakeLists.txt:

 GIT_TAG origin/master
  #GIT_PROGRESS 1

2.Kimera_VIO安装报错因为ｏｐｅｎｃｖ安装过程中报错，对应修改的版本为ＲＯＳ自带的ｏｐｅｎｃｖ版本修改：

Kimera_VIO/ＣMakeLists.txt中修改：

find_package(opengv REQUIRED)
set(OpenCV_DIR /usr/local/share/OpenCV)
find_package(OpenCV REQUIRED)