VINS定位和即时八叉树建图步骤

在工作空间catkin_ws终端运行

1、先source一下，以免报错（注：后面每一步都可以source一下）

source ~/catkin_ws/devel/setup.bash

2、打开D435i相机

roslaunch realsense2_camera rs_camera_vins.launch

3、按ctrl+shift+t，打开另一个终端

运行vins和打开rviz

roslaunch vins vins_rviz.launch

4、运行ros节点

rosrun vins vins_node ~/catkin_ws/src/VINSFusion/config/realsense_d435i/realsense_stereo_imu_config.yaml

5、运行即时建图代码

rosrun lyq pcl_octomap3

注：

修改realsense_strtro_imu_config.yaml时使用imu+双目标定结果中的camchain-imucam-imu_stereo.yaml中的数据

body_T_cam0: !!opencv-matrix

   rows: 4

   cols: 4

   dt: d

   data: [ 0.9999765311433142, 0.0042915567138448055, 0.005340384214276346, 0.020471533129872006,

           -0.004279230155789356, 0.9999881586957619, -0.0023174679141835844, 0.009214828796901428,

           -0.005350266522148351, 0.002294560792688, 0.9999830546758832, -0.02735780636348542,

           0.0, 0.0, 0.0, 1.0]

body_T_cam1: !!opencv-matrix

   rows: 4

   cols: 4

   dt: d

   data: [ 0.9999741079202964, 0.004249686125947799, 0.005807207318368455, -0.029670084057011888,

          -0.004236320619457868, 0.9999883542770769, -0.002311903508500665, 0.009169640663937807,

           -0.005816964553505673, 0.0022872424564064847, 0.9999804655318667, -0.027364703694142407,

           0.0, 0.0, 0.0, 1.0]

body_T_cam0和 body_T_cam1中的data数据来源为cam0:T_cam_imu:和cam1:T_cam_imu:

即为imu的数据data。