1、编译
cd ~/rovio_space
catkin_make rovio --cmake-args -DCMAKE_BUILD_TYPE=Release -DMAKE_SCENE=ON
catkin_make
2、运行(运行euroc数据集)
首先运行roscore
cd ~/rovio_space
source ~/rovio_space/devel/setup.bash
roslaunch rovio rovio_node.launch
source ~/rovio_space/devel/setup.bash
rosbag play /home/dyt/DYT/compare/euroc6/MH_01_easy/MH.bag
3、运行(运行tum数据集)
首先运行roscore
cd ~/rovio_space
source ~/rovio_space/devel/setup.bash
roslaunch rovio rovio_node.launch
source ~/rovio_space/devel/setup.bash
rosbag play /home/dyt/DYT/compare/tum/room1/da.bag
注意!
rovio_node.launch与rovio_rosbag_node.launch在运行不同数据集时都需要做一定的修改
思考!
前端特征点阈值是否需要进行修改?