load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path' fast_relocalization: 0 # useful in real-time and large project pose_graph_save_path: "/home/tony-ws1/output/pose_graph/" # save and load path load_previous_pose_graph 为新功能:地图重用...
load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path' fast_relocalization: 0 # useful in real-time and large project pose_graph_save_path: "/home/shaozu/output/pose_graph/" # save and load path #unsynchronization parameters estimate_td: 1 ...
Actions Projects Security Insights Additional navigation options Files master ar_demo benchmark_publisher camera_model config docker feature_tracker pose_graph cmake src ThirdParty utility keyframe.cpp keyframe.h parameters.h pose_graph.cpp pose_graph.h ...
这里的freq配置文件建议至少设置10,为了保证好的前端。 voidimg_callback(constsensor_msgs::ImageConstPtr&img_msg) {for(inti=0;i<NUM_OF_CAM;i++) {ROS_DEBUG("processing camera %d",i);if(i!=1||!STEREO_TRACK)//调用FeatureTracker的readImagetrackerData[i].readImage(ptr->image.rowRange(ROW*i...
and global pose graph optimization. VINS-Mono is primarily designed for state estimation and feedback control of autonomous drones, but it is also capable of providing accurate localization for AR applications. This code runs onLinux, and is fully integrated withROS. ForiOSmobile implementation, ple...
Finally, geometrically verified loops are added into a pose graph, and thanks to the observable roll and pitch angles from the monocular VIO, a four degrees-of-freedom (DOF) pose graph is performed to ensure global consistency.为了解决这些问题,我们提出了 VINS-Mono,这是一种稳健且通用的单目视觉...
Set thepose_graph_save_pathin the config file (YOUR_VINS_FOLEDER/config/euroc/euroc_config.yaml). After playing MH_01 bag, inputsin vins_estimator terminal, thenenter. The current pose graph will be saved. 3.3.2 map load Set theload_previous_pose_graphto 1 before doing 3.1.1. The sys...
no previous pose graph [ WARN] [1604639881.445128300]: image discontinue! detect a new sequence! new sequence sequence cnt 2 [ WARN] [1604639881.459762000]: imu message in disorder! [ WARN] [1604639881.460358200]: imu message in disorder!
Set thepose_graph_save_pathin the config file (YOUR_VINS_FOLEDER/config/euroc/euroc_config.yaml). After playing MH_01 bag, inputsin vins_estimator terminal, thenenter. The current pose graph will be saved. 3.3.2 map load Set theload_previous_pose_graphto 1 before doing 3.1.1. The sys...
3. Visual-Inertial Odometry and Pose Graph Reuse on Public datasets DownloadEuRoC MAV Dataset. Although it contains stereo cameras, we only use one camera. The system also works withETH-asl cla dataset. We take EuRoC as the example.