Stereo
source ~/vfusion/devel/setup.bash
roslaunch vins vins_rviz.launch
source ~/vfusion/devel/setup.bash
rosrun loop_fusion loop_fusion_node ~/vfusion/src/VINS-Fusion/kitti_odom/kitti_config00-02.yaml
source ~/vfusion/devel/setup.bash
rosrun vins kitti_odom_test ~/vfusion/src/VINS-Fusion/config/kitti_odom/kitti_config00-02.yaml ~/dataset/kitti/odm/sequences/00
Stereo+GPS
VINS-Fusion的config文件夹中支持kitti stereo+gps数据的只有09-30和10-03的数据集,在下载数据集的时候要注意一下,下矫正后的数据集。
修改.yaml文件中的储存路径
修改kitti-gps-test中结果文件储存格式,去掉每行最后的空格,否则evo评估时会报格式不统一
打开三个terminal
source ~/vfusion/devel/setup.bash
roslaunch vins vins_rviz.launch
source ~/vfusion/devel/setup.bash
rosrun vins kitti_gps_test ~/vfusion/src/VINS-Fusion/config/kitti_raw/kitti_09_30_config.yaml ~/dataset/kitti/sync/2011_09_30_drive_0027_sync/