/SLAM_estimater_2

Primary LanguageC++

SLAM_estimater_2

版本2： 实现了bias_acc，bias_gyro的估计功能，并且把轨迹进行了输出。 后端优化和原版的没有区别 vins_result_no_loop的输出格式：

<< estimator.Ps[WINDOW_SIZE].x() << ","
<< estimator.Ps[WINDOW_SIZE].y() << ","
<< estimator.Ps[WINDOW_SIZE].z() << ","
<< tmp_Q.w() << ","
<< tmp_Q.x() << ","
<< tmp_Q.y() << ","
<< tmp_Q.z() << ","
<< estimator.Vs[WINDOW_SIZE].x() << ","
<< estimator.Vs[WINDOW_SIZE].y() << ","
<< estimator.Vs[WINDOW_SIZE].z() << ","

使用方法： source devel/setup.bash roslaunch vi_slam run.launch