阅读VINS代码一些记录

1. ROS_INFO与ROS_INFO_STREAM，ROS_INFO_STREAM_ONCE

1. ROS_INFO(“INFO message %d”,k),相当于c中的printf;

2. ROS_INFO_STREAM ( "INFO message." <<k);相当于c++中的cout;

3. ROS_INFO_STREAM_ONCE( "INFO message." <<k);相当于c++中的cout;但只执行一次

2. 关于ros::NodeHandle

1. ros::NodeHandle n：命名空间为/node_namespace

2. ros::NodeHandle n("name")：命名空间为/node_namespace/name

3. ros::NodeHandle n("~")：命名空间为/node_namespace/node_name

4. 参考：https://blog.csdn.net/weixin_44346182/article/details/122389695

3. 打开文件流的方法

1. 使用标准输入输出流

参考：https://blog.csdn.net/qq_28640763/article/details/109898803

#include <fstream>

std::ifstream fin(config_file,std::ios::in);
if(!fin.is_open())
{
    std::cerr << "ERROR: Wrong path to settings" << std::endl;
}
char buf[100];
fin>>buf; //读取一行
std::cout<<"ww-"<<buf<<std::endl;
fin>>buf;
std::cout<<"ww-"<<buf<<std::endl;
fin.close();

2. 使用opencv的cv::FileStorage对YAML格式文件进行操作

参考1：https://blog.csdn.net/zhhp1001/article/details/84816328

参考2：https://blog.csdn.net/sinat_41752325/article/details/124101002

cv::FileStorage fsSettings(config_file, cv::FileStorage::READ); //构造函数
if(!fsSettings.isOpened())
{
    std::cerr << "ERROR: Wrong path to settings" << std::endl;
}

fsSettings["image_topic"] >> IMAGE_TOPIC;
fsSettings["imu_topic"] >> IMU_TOPIC;
MAX_CNT = fsSettings["max_cnt"];
MIN_DIST = fsSettings["min_dist"];
fsSettings.release();


YAML文件中的以下内容
projection_parameters:
   fx: 4.616e+02
   fy: 4.603e+02
   cx: 3.630e+02
   cy: 2.481e+02

cv::FileNode n = fs["distortion_parameters"];
m_fx = static_cast<double>(n["fx"]);
m_fy = static_cast<double>(n["fy"]);
m_cx = static_cast<double>(n["cx"]);
m_cy = static_cast<double>(n["cy"]);

4. 图像格式转换：cv_bridge

参考：http://wiki.ros.org/cv_bridge/Tutorials/UsingCvBridgeToConvertBetweenROSImagesAndOpenCVImages

cv_bridge是实现ROS图像消息和OpenCV图像之间进行转换的一个功能包

cv_bridge::CvImageConstPtr ptr = cv_bridge::toCvCopy(img_msg, sensor_msgs::image_encodings::MONO8);
cv::Mat cv_img = ptr->image;

5. 内存CPU查看

命令1：gnome-system-monitor

命令2：top

参考：https://blog.csdn.net/m0_51233386/article/details/125024323?utm_medium=distribute.pc_relevant.none-task-blog-2~default~baidujs_baidulandingword~default-0-125024323-blog-103222695.pc_relevant_3mothn_strategy_recovery&spm=1001.2101.3001.4242.1&utm_relevant_index=3

6. 时间计算