亚马逊网站建设分析,网站建设手机站,网站界面设计缺点,南昌的网站推广公司ORB-SLAM3复现(ubuntu18/20) 文章目录 ORB-SLAM3复现(ubuntu18/20)1 坐标系与外参Intrinsic parameters2 内参Intrinsic parameters2.1 相机内参① 针孔模型Pinhole② KannalaBrandt8模型③ Rectified相机 2.2 IMU内参 3 VI标定—外参3.1 Visual calibration3.2 Inertial calib…ORB-SLAM3复现(ubuntu18/20) 文章目录 ORB-SLAM3复现(ubuntu18/20)1 坐标系与外参Intrinsic parameters2 内参Intrinsic parameters2.1 相机内参① 针孔模型Pinhole② KannalaBrandt8模型③ Rectified相机 2.2 IMU内参 3 VI标定—外参3.1 Visual calibration3.2 Inertial calibration 4 编译4.1 c编译报错ubuntu18/204.1.1 报错14.1.2 报错2c11问题4.1.3 报错3‘cout’ is not a member of ‘std’4.1.4 报错4chrono::monotonic_clock4.1.5 报错5fmt4.1.6 opencv版本警告 4.2 ROS编译报错4.2.1 报错14.2.2 报错24.2.3 报错34.2.4 报错4 4.3 CMakeLists.txt 5 c运行测试5.1 Euroc数据集测试5.1.1 单目 IMU5.1.2 双目5.1.3 双目 IMU 5.2 TUM-VI数据集5.2.1 单目IMU5.2.2 双目 IMU 6 ROS测试待补充 1 坐标系与外参Intrinsic parameters 世界坐标系Z轴指向重力矢量的相反方向在纯视觉情况下世界系设置为第一个相 机的姿态。 相机坐标系采用常见的右下前xyz顺序。这里 C 1 C_1 C1即左目cam0 C 2 C_2 C2即右目cam1。 IMU坐标系也即Body坐标系 相机与body系转换 T W C 1 T W B T B C 1 T W C 2 T W B T B C 1 T C 1 C 2 \begin{aligned}\mathbf{T}_{\mathsf{WC}_1}\mathbf{T}_{\mathsf{WB}}\mathbf{T}_{\mathsf{BC}_1}\\\mathbf{T}_{\mathsf{WC}_2}\mathbf{T}_{\mathsf{WB}}\mathbf{T}_{\mathsf{BC}_1}\mathbf{T}_{\mathsf{C}_1\mathsf{C}_2}\end{aligned} TWC1TWBTBC1TWC2TWBTBC1TC1C2
校准文件需要提供的外部参数有 T B C 1 T_{BC1} TBC1和 T C 1 C 2 T_{C_1C_2} TC1C2以双目EuRoC.yaml为例
Stereo.T_c1_c2: !!opencv-matrixrows: 4cols: 4dt: fdata: [0.999997256477797,-0.002317135723275,-0.000343393120620,0.110074137800478,0.002312067192432,0.999898048507103,-0.014090668452683,-0.000156612054392,0.000376008102320,0.014089835846691,0.999900662638081,0.000889382785432,0,0,0,1.000000000000000]# Transformation from camera 0 to body-frame (imu)
# 注意如果是仅双目情况只估计了左目位姿
IMU.T_b_c1: !!opencv-matrixrows: 4cols: 4dt: fdata: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975,0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768,-0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949,0.0, 0.0, 0.0, 1.0]
2 内参Intrinsic parameters 注意有的双目相机提供的是相机基线b有的直接提供的 T C 1 C 2 T_{C_1C_2} TC1C2。 这是因为当相机提供的是矫正过的立体图像时意味着相机制造商或数据集已经对相机之间的畸变进行了矫正。在这种情况下畸变已经被移除相机图像上的点的位置更加准确。因此在标定文件中只需要提供基线 b而不需要提供完整的 T C 1 C 2 T_{C_1C_2} TC1C2。 2.1 相机内参
① 针孔模型Pinhole 最常见的针孔模型一般提供 the camera focal length and central point in pixe。以EuRoC.yaml为例
Camera.type: PinHole# Camera calibration and distortion parameters (OpenCV)
Camera1.fx: 458.654
Camera1.fy: 457.296
Camera1.cx: 367.215
Camera1.cy: 248.375Camera1.k1: -0.28340811
Camera1.k2: 0.07395907
Camera1.p1: 0.00019359
Camera1.p2: 1.76187114e-05ORB系统会使用OpenCV的stereorectify函数对左右图像进行内部矫正
② KannalaBrandt8模型 一种用于描述广角和鱼眼相机镜头畸变的数学模型Kannala-Brandt模型的8参数版本通常称为KannalaBrandt8其中8个参数用于建模相机的畸变。对于KannalaBrandt8相机由于其本身广角特性不会进行内部矫正以避免失去分辨率和视场 以RealSense_T265.yaml为例
Camera.type: KannalaBrandt8# Left Camera calibration and distortion parameters (OpenCV)
Camera1.fx: 284.9501953125
Camera1.fy: 285.115295410156
Camera1.cx: 420.500213623047
Camera1.cy: 400.738098144531# Kannala-Brandt distortion parameters
Camera1.k1: -0.00530046410858631
Camera1.k2: 0.0423333682119846
Camera1.k3: -0.03949885815382
Camera1.k4: 0.00682387687265873③ Rectified相机 这个模型适用于哪些已经去除畸变的数据所以只需要 ( f x , f y , c x , c y ) (f_x,f_y,c_x,c_y) (fx,fy,cx,cy)和相机基线b。以RealSense_D435i.yaml为例
Camera.type: Rectified# Rectified Camera calibration (OpenCV)
Camera1.fx: 382.613
Camera1.fy: 382.613
Camera1.cx: 320.183
Camera1.cy: 236.455Stereo.b: 0.0499585
2.2 IMU内参 测量值 理想值 高斯噪声 偏差。注意IMU测量的角速度和加速度都是在IMU坐标系下。 a ~ a η a b a ω ~ ω η g b g \begin{aligned}\widetilde{\mathbf{a}}\mathbf{a}\eta^a\mathbf{b}^a\\\widetilde{\boldsymbol{\omega}}\mathbf{\omega}\eta^g\mathbf{b}^g\end{aligned} a ω aηabaωηgbg 噪声 η a ∼ N ( 0 , σ a 2 I 3 ) η g ∼ N ( 0 , σ g 2 I 3 ) \begin{aligned}\eta^a\sim\mathcal{N}(\mathbf{0},\sigma_a^2\mathbf{I}_3)\\\eta^g\sim\mathcal{N}(\mathbf{0},\sigma_g^2\mathbf{I}_3)\end{aligned} ηa∼N(0,σa2I3)ηg∼N(0,σg2I3) σ a σ_a σa 和 σ g σ_g σg 是noise densitiesIMU的数据手册中有详细说明并且需要在标定文件中提供。 对于偏差 假设它们遵循布朗运动。给定两个连续时刻 i和 i 1其特征如下 b i 1 a b i a η r w a with η r w a ∼ N ( 0 , σ a , r w 2 I 3 ) b i 1 g b i g η r w g with η r w g ∼ N ( 0 , σ g , r w 2 I 3 ) \begin{aligned}\mathbf{b}_{i1}^a\mathbf{b}_i^a\boldsymbol{\eta}_\mathrm{rw}^a\text{with }\boldsymbol{\eta}_\mathrm{rw}^a\sim\mathcal{N}(\mathbf{0},\sigma_{a,rw}^2\mathbf{I}_3)\\\mathbf{b}_{i1}^g\mathbf{b}_i^g\boldsymbol{\eta}_\mathrm{rw}^g\text{with }\boldsymbol{\eta}_\mathrm{rw}^g\sim\mathcal{N}(\mathbf{0},\sigma_{g,rw}^2\mathbf{I}_3)\end{aligned} bi1abi1gbiaηrwabigηrwgwith ηrwa∼N(0,σa,rw2I3)with ηrwg∼N(0,σg,rw2I3) 通常将IMU制造商提供的随机游走标准差增加比如乘以10是一种常见做法以考虑未建模的效应并提高IMU初始化的收敛性。 以EuRoC.yaml为例这里提供的是连续/离散没有说后面再看
# IMU noise
IMU.NoiseGyro: 1.7e-04 # 1.6968e-04 σ_g
IMU.NoiseAcc: 2.0e-03 # 2.0000e-3 σ_a
IMU.GyroWalk: 1.9393e-05
IMU.AccWalk: 3.e-03 # 3.0000e-3
IMU.Frequency: 200.0 以TUM-VI.yaml为例连续时间下的方差单位
# IMU noise (Use those from VINS-mono)
IMU.NoiseGyro: 0.00016 # 0.004 (VINS) # 0.00016 (TUM) # 0.00016 # rad/s^0.5
IMU.NoiseAcc: 0.0028 # 0.04 (VINS) # 0.0028 (TUM) # 0.0028 # m/s^1.5
IMU.GyroWalk: 0.000022 # 0.000022 (VINS and TUM) rad/s^1.5
IMU.AccWalk: 0.00086 # 0.0004 (VINS) # 0.00086 # 0.00086 # m/s^2.5
IMU.Frequency: 200.0关于单位可参考高博新书P54页。
3 VI标定—外参 ORB给的文档Calibration_Tutorial,使用工具 Kalibr后续有时间单独把这块上传
3.1 Visual calibration 视觉内参
3.2 Inertial calibration cam-imu外参标定
4 编译 ORB-SLAM3有好几个版本这里下载了v1.0
4.1 c编译报错ubuntu18/20
# 依次编译各种库
echo Building ROS nodescd Examples/ROS/ORB_SLAM3
mkdir build
cd build
cmake .. -DROS_BUILD_TYPERelease
make -j Ubuntu18因为常见会报错的库已经被包含在包里所以c编译基本没报错。
4.1.1 报错1 ps在ubuntu20中安装源码中第三方库sophus报错sophus /usr/include/eigen3/Eigen/src/Core/IO.h:122:39: error: ‘digits10’ is not a member of ‘Eigen::NumTraitsceres::Jetdouble, 3 ’ 122 | return NumTraitsScalar::digits10(); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~^~
打开package.yaml发现版本太低了在其CMakeLists.txt中也是支持的是c11 问题的本质是sophus库版本和eigen不适配首先尝试更换sophus库版本。这里用1.22.4替换了源码中的包 4.1.2 报错2c11问题 解决了上面问题开始编译主程序 报错2ubuntu20支持c14 error: ‘slots_reference’ was not declared in this scope 1180 | cow_copy_typelist_type, Lockable ref slots_reference();
这个应该是很常见的问题在cmakelists中把c11改成c14即可
4.1.3 报错3‘cout’ is not a member of ‘std’ 报错3#include iostream丢了ImuTypes.h添加即可以及GeometricTools.h ORB_SLAM3-master/include/ImuTypes.h:203:14: error: ‘cout’ is not a member of ‘std’203 | std::cout pint meas:\n;| ^~~~
/home/pj/pj/ORB_SLAM3-master/include/ImuTypes.h:33:1: note: ‘std::cout’ is defined in header ‘iostream’; did you forget to ‘#include iostream’?32 | #include SerializationUtils.h |#include iostream33 |
/home/pj/pj/ORB_SLAM3-master/include/ImuTypes.h:204:23: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vectorORB_SLAM3::IMU::Preintegrated::integrable::size_type’ {aka ‘long unsigned int’} [-Wsign-compare]204 | for(int i0; imvMeasurements.size(); i){| ~^~~~~~~~~~~~~~~~~~~~~~
/home/pj/pj/ORB_SLAM3-master/include/ImuTypes.h:205:18: error: ‘cout’ is not a member of ‘std’205 | std::cout meas mvMeasurements[i].t std::endl;| ^~~~
/home/pj/pj/ORB_SLAM3-master/include/ImuTypes.h:205:18: note: ‘std::cout’ is defined in header ‘iostream’; did you forget to ‘#include iostream’?
/home/pj/pj/ORB_SLAM3-master/include/ImuTypes.h:207:14: error: ‘cout’ is not a member of ‘std’207 | std::cout end pint meas:\n;
4.1.4 报错4chrono::monotonic_clock 报错4 monotonic_clock is replaced by steady_clock after C11所以C14不支持monotonic_clock error: ‘std::chrono::monotonic_clock’ has not been declared 201 | std::chrono::monotonic_clock::time_point t1 std::chrono::monotonic_clock::now(); 看了代码之后发现作者已经提前写明了可能会出现的问题 #ifdef COMPILEDWITHC11std::chrono::steady_clock::time_point t2 std::chrono::steady_clock::now();#elsestd::chrono::monotonic_clock::time_point t2 std::chrono::monotonic_clock::now();#endif 全部改为steady_clock
std::chrono::steady_clock::time_point t1 std::chrono::steady_clock::now();// Pass the image to the SLAM systemSLAM.TrackMonocular(im,tframe);std::chrono::steady_clock::time_point t2 std::chrono::steady_clock::now();4.1.5 报错5fmt 报错5fmt问题 ibORB_SLAM3.so: undefined reference to fmt::v6::internal::error_handler::on_error(char const*)
/usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to fmt::v6::vprint(fmt::v6::basic_string_viewchar, fmt::v6::format_args)
/usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to std::locale fmt::v6::internal::locale_ref::getstd::locale() const
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rgbd_tum.dir/build.make:124: ../Examples/RGB-D/rgbd_tum] Error 1
make[1]: *** [CMakeFiles/Makefile2:120: CMakeFiles/rgbd_tum.dir/all] Error sudo apt install libfmt-devfind_package(fmt REQUIRED)
target_link_libraries(xxx fmt::fmt) # 添加fmt库4.1.6 opencv版本警告 最后警告/usr/bin/ld: warning: libopencv_core.so.4.2, needed by ../Thirdparty/DBoW2/lib/libDBoW2.so, may conflict with libopencv_core.so.3.4。看起来貌似词袋库需要的opencv库与实际版本不一样但是之前一直都是3.4.16 测试单目kitti没有问题这个警告暂时忽略 4.2 ROS编译报错
4.2.1 报错1 还是需要把功能包加入到ros路径参考ORB-SLAM2中报错
gedit ~/.bashrc
export ROS_PACKAGE_PATH${ROS_PACKAGE_PATH}:PATH/ORB_SLAM3/Examples/ROSchmod x build_ros.sh
./build_ros.sh4.2.2 报错2
cmake对应的一些警告
CMake Deprecation Warning at /opt/ros/melodic/share/ros/core/rosbuild/rosbuild.cmake:7 (cmake_policy):The OLD behavior for policy CMP0011 will be removed from a future versionof CMake.The cmake-policies(7) manual explains that the OLD behaviors of allpolicies are deprecated and that a policy should be set to OLD only underspecific short-term circumstances. Projects should be ported to the NEWbehavior and not rely on setting a policy to OLD.
Call Stack (most recent call first):CMakeLists.txt:2 (include).....
# 这里其实不用管只是一些警告4.2.3 报错3 关于sophus相应redefinition的错误这些错误可能是由 Sophus 库的头文件重复引入导致的。之前安装sophus时候安装到系统里面了这里ORB3又自带了相应的文件可是每个头文件里面已经加上了预编译指令或#pragma once
/usr/local/include/sophus/common.hpp:174:8: error: redefinition of ‘struct Sophus::Constantsfloat’ struct Constantsfloat 随机打开头文件查看对于sophus库的引用一个指明了ORB-SLAM3第三方库下的文件一个没有指明估计是这里引发的问题。c里面引用自定义头文件和标准头文件格式不一样一个用“”另一个用括号。OBR-SLAM3里面关于sophus的引用比较混乱有时候用“”有时候又. // GeometricTools.h #include opencv2/core/core.hpp
#include sophus/se3.hpp// ORBmatcher.h 对于自定义的引用改成
#includesophus/sim3.hppThirdparty/Sophus/sophus/sim3.hpp // 没有什么好的办法都换为第三方库下面的估计是两个sophus版本不一样引起估计报错提到的文件都有这个问题修改完之后重新编译下c版本再编译ROS版本的 4.2.4 报错4
/home/wheeltec-client/WPJ/ORB_SLAM3-master/Examples_old/ROS/ORB_SLAM3/src/AR/ViewerAR.cc: In member function ‘ORB_SLAM3::Plane* ORB_SLAM3::ViewerAR::DetectPlane(cv::Mat, const std::vectorORB_SLAM3::MapPoint*, int)’: /home/wheeltec-client/WPJ/ORB_SLAM3-master/Examples_old/ROS/ORB_SLAM3/src/AR/ViewerAR.cc:405:53: error: no matching function for call to ‘std::vectorcv::Mat::push_back(Eigen::Vector3f)’ vPoints.push_back(pMP-GetWorldPos()); ^
报错显示在ViewerAR.cc文件中类型不匹配错误把Mat类型和Eigen::Vector3f混淆
/home/wheeltec-client/WPJ/ORB_SLAM3-master/Examples_old/ROS/ORB_SLAM3/src/AR/ViewerAR.cc:530:42: error: conversion from ‘Eigen::Vector3f {aka Eigen::Matrixfloat, 3, 1}’ to non-scalar type ‘cv::Mat’ requested cv::Mat Xw pMP-GetWorldPos(); ~~~~~~~~~~~~~~~~^~
/home/wheeltec-client/WPJ/ORB_SLAM3-master/Examples_old/ROS/ORB_SLAM3/src/AR/ros_mono_ar.cc:151:41: error: conversion from ‘Sophus::SE3f {aka Sophus::SE3float}’ to non-scalar type ‘cv::Mat’ requested cv::Mat Tcw mpSLAM-TrackMonocular(cv_ptr-image,cv_ptr-header.stamp.toSec()); ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
ros_mono_ar.cc文件
^[[ACMakeFiles/MonoAR.dir/build.make:198: recipe for target CMakeFiles/MonoAR.dir/src/AR/ViewerAR.cc.o failed
make[2]: *** [CMakeFiles/MonoAR.dir/src/AR/ViewerAR.cc.o] Error 1
make[2]: *** 正在等待未完成的任务....
CMakeFiles/MonoAR.dir/build.make:118: recipe for target CMakeFiles/MonoAR.dir/src/AR/ros_mono_ar.cc.o failed
// 解决办法 ViewerAR.cc ros_mono_ar.cc 添加对应头文件
#include../../../include/Converter.h// 在这两个文件相应的位置修改下面的代码//in line 151 of ros_mono_ar.cc
cv::Mat TcwORB_SLAM3::Converter::toCvMat(mpSLAM-TrackMonocular(cv_ptr-image,cv_ptr-header.stamp.toSec()).matrix());//in line 405 of ViewerAR.cc
vPoints.push_back(ORB_SLAM3::Converter::toCvMat(pMP-GetWorldPos()));//in line 530 of ViewerAR.cc
cv::Mat Xw ORB_SLAM3::Converter::toCvMat(pMP-GetWorldPos());
参考链接
4.3 CMakeLists.txt c find_package(OpenCV REQUIRED) # 注意把对应版本换为你自己版本或者让编译器自己去找
find_package(Eigen3 REQUIRED)
find_package(Pangolin REQUIRED)
find_package(realsense2)target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
-lboost_serialization # 链接到Boost库中的serialization模块
-lcrypto # 链接到OpenSSL库中
)ROS cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)rosbuild_init()LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/../../../cmake_modules)find_package(OpenCV QUIET)
find_package(Eigen3 REQUIRED)
find_package(Pangolin REQUIRED)include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/../../../
${PROJECT_SOURCE_DIR}/../../../include
${PROJECT_SOURCE_DIR}/../../../include/CameraModels
${Pangolin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
)set(LIBS # 这里没有引入sophus库直接把libORB_SLAM3.so拿了过来
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM3.so
-lboost_system
)# Node for monocular camera
rosbuild_add_executable(Mono
src/ros_mono.cc
)target_link_libraries(Mono
${LIBS}
)5 c运行测试 两个数据集的IMU都是连续时间下噪声参数Euroc是针孔相机TUM是鱼眼相机
5.1 Euroc数据集测试
# 数据每个数据下都有对应的配置参数
└── mav0├── cam0│ └── data│ └── sensor.yaml├── cam1│ └── data├── imu0├── leica0└── state_groundtruth_estimate05.1.1 单目 IMU 运行单目 和 单目惯性的除了可执行文件命令是一致的
# 可执行文件 字典 配置文件 数据总路径(程序自己找imu和cam) 时间戳
./Examples/Monocular-Inertial/mono_inertial_euroc
Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml /mnt/hgfs/dataset/EUROC/MH_05_difficult ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH05.txt #orb带了5.1.2 双目
./Examples/Stereo/stereo_euroc Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml /mnt/hgfs/dataset/EUROC/MH_05_difficult Examples/Stereo/EuRoC_TimeStamps/MH05.txt 5.1.3 双目 IMU
./Examples/Stereo-Inertial/stereo_inertial_euroc Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml /mnt/hgfs/dataset/EUROC/MH_05_difficult ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH05.txt 这里没有运行成功
There are 1 cameras in the atlas
Camera 0 is pinhole
not IMU meas
not IMU meas
not enough accelerationnot enough acceleration
not enough acceleration
First KF:0; Map init KF:0
New Map created with 145 points
start VIBA 1
end VIBA 1
Not enough motion for initializing. Reseting...
5.2 TUM-VI数据集 TUM-VI dataset :两个鱼眼镜头和一个惯性传感器.这里IMU的噪声参数代码中声明参考了VINS-mono。 下载的数据集没有带配置参数但是官网提供了相应的相机校准文件和IMU标定参数。
# IMU noise (Use those from VINS-mono)
IMU.NoiseGyro: 0.00016 # rad/s^0.5
IMU.NoiseAcc: 0.0028 # m/s^1.5
IMU.GyroWalk: 0.000022 # rad/s^1.5
IMU.AccWalk: 0.00086 # m/s^2.5
IMU.Frequency: 200.05.2.1 单目IMU
# 可执行文件 字典 配置文件 图像路径 时间戳 imu路径 保存轨迹名
Usage: ./mono_inertial_tum_vi path_to_vocabulary path_to_settings path_to_image_folder_1 path_to_times_file_1 path_to_imu_data_1 (trajectory_file_name)# 作者已经把imu数据、时间戳放到下载的代码里了
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM-VI.yaml /mnt/hgfs/dataset/TUM/VIO/zip文件/dataset-corridor1_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-corridor1_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-corridor1_512.txt 5.2.2 双目 IMU
# 可执行文件 字典 配置文件 cam0 cam1 时间戳 imu数据
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM-VI.yaml /mnt/hgfs/dataset/TUM/VIO/zip文件/dataset-corridor1_512_16/mav0/cam0/data /mnt/hgfs/dataset/TUM/VIO/zip文件/dataset-corridor1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor1_512.txt 6 ROS测试待补充
参考
