ZED2+ORB_SLAM3+视觉惯性轨迹保存

在zed2_stereo_inertial.cc 中加入保存轨迹保存代码
重新编译

命令行
cd ~/catkin_ws
source ./devel/setup.bash
roscore

//另开一个命令行
cd ~/catkin_ws
source ./devel/setup.bash //不知道为什么不执行这一步就无法找到zed.launch
roslaunch zed_wrapper zed.launch

//另开一个命令行
cd ~/catkin_ws/src/ORB_SLAM3
rosrun ORB_SLAM3 ZED_Stereo_IMU Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/Stereo_IMU.yaml false

命令行
cd ~/catkin_ws
source ./devel/setup.bash
roscore

//另开一个命令行
cd ~/catkin_ws
source ./devel/setup.bash //不知道为什么不执行这一步就无法找到zed.launch
roslaunch zed_wrapper zed.launch

//另开一个命令行
cd ~/catkin_ws/src/ORB_SLAM3
rosrun ORB_SLAM3 zed_Stereo_rect Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml false