1.修改yaml文件
output_path: “/home/tong/output/”,改成自己的,其他的看自己用的啥相机,改话题名字和相关参数。
2.修改程序中的输出,改成tum格式。
当前帧在滑动窗口优化一次即吐出位姿。
// write result to file visualization
ofstream foutC(VINS_RESULT_PATH, ios::app);
foutC.setf(ios::fixed, ios::floatfield);
foutC.precision(5);
foutC << header.stamp.toSec() << " " << estimator.Ps[WINDOW_SIZE].x() << " "
<< estimator.Ps[WINDOW_SIZE].y() << " " << estimator.Ps[WINDOW_SIZE].z() << " "
<< tmp_Q.x() << " " << tmp_Q.y() << " " << tmp_Q.z() << " " << tmp_Q.w() << endl;
foutC.close();
终端1
roscore
终端2 显示
source devel/setup.bash
roslaunch vins vins_rviz.launch
终端3 运行
rosrun vins vins_node /home/knight/vinsf_ws/src/VINS-Fusion-DetailedNote/config/mynteye/mynteye_stereo_imu_config.yaml
终端4 播放数据
rosbag play
3.评估
evo即可