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$ roslaunch rtabmap_ros euroc_datasets.launch args:="Odom/Strategy 9 OdomVINS/ConfigPath ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml" MH_seq:=true raw_images_for_odom:=true $ rosbag play -.-clock MH_01_easy.bag VINS (VO): $ roslaunch rtabmap_ros euroc_d...
其实VINS和ORB-SLAM都不是适合工程使用的好方案。 工程应用首先应保证前端的鲁棒性,其次才是精度。毕竟你要先能收敛,看精度才有意义。运行时但凡飘一下,之前精度再高也是打水漂。VINS和ORB-SLAM对于corner cases是没啥特殊处理的,连ZUPT都没做,这就注定鲁棒性不足。VINS长时间运行会发散是必然的。 大家觉得VINS...
-- With VINS-Fusion = NO (VINS-Fusion not found) -- With ORB_SLAM2 = YES (License: GPLv3) -- --- -- Configuring done [ 4%] Built target rtabmap_utilite [ 4%] Built target res_tool [ 40%] Built target rtabmap_core [ 80%] Built target rtabmap_gui [ 80%] Linking CXX ...
Hi, Mathieu I used the test_d435i_vio.launch to run vins-fusion supported rtabmap. An error occured: [ERROR] [1608127730.914892966]: The stereo baseline (-0.049985) should be positive (baseline=-Tx/fx). We assume a horizontal left/right ...
IF after sourcing .bash, the same errors still exist, it's time to rebuild rtabmap with a patch related to the ROS package VINS-Fusion. First of all, clone the repository fromGitHub. (Assume you have installed the prerequisites.)
(SuperPoint) WITH_TORCH:BOOL=OFF //Include TORO support WITH_TORO:BOOL=ON //Include Vertigo support WITH_VERTIGO:BOOL=ON //Include VINS-Fusion support WITH_VINS:BOOL=OFF //Include VISO2 support WITH_VISO2:BOOL=OFF //Include ZED sdk support WITH_ZED:BOOL=OFF //Include ZED Open Capture ...
MESSAGE(STATUS " With VINS-Fusion = NO (VINS-Fusion not found)") ENDIF() IF(ORB_SLAM2_FOUND) MESSAGE(STATUS " With ORB_SLAM2 = YES (License: GPLv3)") ELSEIF(NOT WITH_ORB_SLAM2) MESSAGE(STATUS " With ORB_SLAM2 = NO (WITH_ORB_SLAM2=OFF)") ELSEIF(G2O_FOUND) MESSAG...
Preparation: 1. Remap topic from D435i to rtabmap 2. Feed the odometry to rtabmap In the rqt_graph of vins_estimator, topic /vins_estimator/odometry i
-- With VINS-Fusion = NO (WITH_VINS=OFF) -- With OpenVINS = NO (WITH_OPENVINS=OFF) -- With ORB_SLAM3 = YES (License: GPLv3) -- Show all options with: cmake -LA | grep WITH_ -- --- -- Configuring done -- Generating done -- Build files have ...