Thank you for your great work. And I can run the stereo vins with Kitti data set perfect. But when I ran it with my own data set, the trajectory is bad. roslaunch vins vins_rviz.launch rosrun vins kitti_odom_test ~/catkin_ws/src/VINS-Fus...
VINS has been completely reconstructed and rewritten using C++ object-oriented, and supports stereo or stereo+ IMU. slamstate-estimationviovinsvins-fusion UpdatedNov 6, 2023 C++ Recent Camera Localization in LiDAR Maps Paper slamself-drivingvinslidar-point-cloud ...
Vins-Fusion源码:https://github.com/HKUST-Aerial-Robotics/VINS-Fusion 摘要 应项目需要,侧重学习stereo+gps融合 转载几篇写的比较好的博客 1.萌新学VINS-Fusion(三)---双目和GPS融合 主函数文件 与GPS融合的程序入口在KITTIGPSTest.cpp文件中,数据为KITTI数据集 数据集为 http://www.cvlibs.net/datasets/kitt...
$ rosrun camera_calibration cameracalibrator.py--size 8x6 --square0.108--approximate=0.01right:=/my_stereo/right/image_rawleft:=/my_stereo/left/image_rawright_camera:=/my_stereo/rightleft_camera:=/my_stereo/left 加入了一行这个--approximate=0.01参数,我也不知道是不是这个东西起的作用,毕竟我还...
先说说MSCKF吧,原版的作者没有开源相应的代码,但是Kumar机器人实验室的ke.Sun有基于MSCKF的思想开源了基于双目MSCKF代码https://github.com/KumarRobotics/msckf_vio, 和对应论文[1];代码写的非常的整洁,注释也非常清楚; 另外宾大Daniilidis组开源了一套单目视觉惯导代码https://github.com/daniilidis-group/msckf_mo...
我们以vins-fusion的4.2 运行stereo+GPS为例。在github上可以看到开三个终端,利用三条语句来跑程序,运行三条命令可以在rviz中观察后面两条命令产生的轨迹。 VINS-FUSION三个终端运行命令 此处第一条命令是和rviz有关的,不涉及到程序本身的调试,后两条命令涉及到两个节点,其中vins、global_fusion都是package的名字,...
新建文件新建 Diagram 文件 新建子模块 上传文件 分支3 标签0 undefined 贡献代码 同步代码 创建Pull Request 了解更多 对比差异通过 Pull Request 同步 同步更新到分支 通过Pull Request 同步 将会在向当前分支创建一个 Pull Request,合入后将完成同步 BaitaoShaoupdate8a7a9627年前 ...
May 11, 2023- Inertial intrinsic support released as part of v2.7 along with a few bug fixes and improvements to stereo KLT tracking. Please check out therelease pagefor details. April 15, 2023- Minor update to v2.6.3 to support incremental feature triangulation of active features for downstr...
下载https://github.com/HKUST-Aerial-Robotics/VINS-Fusion 直接编译即可; 配置yaml文件 oak-d-w.yaml %YAML:1.0 #common parameters #support: 1 imu 1 cam; 1 imu 2 cam: 2 cam; imu: 1 num_of_cam: 2 imu_topic: "/stereo_inertial_publisher/imu" ...
更新全局ID,将新提取的特征点赋予全局idfor (unsigned int i = 0;; i++) { bool completed = false; for (int j = 0; j < NUM_OF_CAM; j++) if (j != 1 || !STEREO_TRACK) completed |= trackerData[j].updateID(i); if (!completed) break; } ...