VINS-Fusion跑kitti stereo及stereo+GPS数据

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/

source ~/vfusion/devel/setup.bash
rosrun global_fusion global_fusion_node

./Examples/Stereo-Inertial/stereo_inertial_kitti ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/KITTI05-10.yaml ../slam_data/kitti/sequences/07 ../slam_data/kitti/IMU/2011_09_30/2011_09_30_drive_0027_extract/oxts/data ../slam_data/kitti/IMU/NewTimestamps07.txt