安装依赖项:
sudo apt-get install ros-YOUR_DISTRO-cv-bridge ros-YOUR_DISTRO-tf ros-YOUR_DISTRO-message-filters ros-YOUR_DISTRO-image-transport
编译:
cd ~/catkin_ws/src git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git cd ../ catkin_make source ~/catkin_ws/devel/setup.bash
运行:
roslaunch vins_estimator euroc.launch roslaunch vins_estimator vins_rviz.launch rosbag play YOUR_PATH_TO_DATASET/MH_01_easy.bag
使用自己的设备来做一遍实验:
roscore roslaunch dvs_renderer davis_mono.launch roslaunch vins_estimator wy.launch roslaunch vins_estimator vins_rviz.launch
起初,就算运动十分缓慢,得到的效果也是直接飘,如下图:
后面,和同学交流了一下,发现这样是错误的。下面进行改进一些错误的地方,后面再更新。