SLAM各算法运行方法与过程

本文介绍本人在实践过程中遇到的各个间接法的运行和配置过程。

主要包括以下五种算法:

VINS_mono/fusionOKVISROVIOVI_ORB-SLAMMSCKF

VINS_mono

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OKVIS

Run OKVIS

可能需要加入std::ftreamOpencv需要3.4.2或以下版本，需要opencvv模块Opencv3.4.7没有这个模块

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ROVIO

可参考：[该博客]https://www.cnblogs.com/Jessica-jie/p/6607719.html

catkin build rovio --cmake-args -DCMAKE_BUILD_TYPE=Release -DMAKE_SCENE=ON

运行ROVIO

$ source devel/setup.bash $ roslaunch rovio rovio_node.launch

修改代码以输出路径

在发送IMU数据下边添加输出到文件的代码

//把数据写到文档里 std::ofstream vio_result_file("/home/guoben/Documents/output/vio_result.csv", ios::app); vio_result_file << ros::Time(mpFilter_->safe_.t_) << " " << imuOutput_.WrWB()(0) << " " << imuOutput_.WrWB()(1) << " " << imuOutput_.WrWB()(2) << " " << imuOutput_.qBW().x() << " " << imuOutput_.qBW().y()<< " " << imuOutput_.qBW().z() << " " << -imuOutput_.qBW().w() << std::endl; vio_result_file.close();

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VI-ORB_SLAM

LearnVIORB 的代码地址代码运行方法轨迹生成输出位置位于 System.cc

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MSCKF

运行方法

roslaunch msckf_vio msckf_vio_euroc.launch rosrun rviz rviz -d ~/Project/msckf_vio_workspace/src/msckf_vio/rviz/rviz_euroc_config.rviz //rviz显示模型 rosbag play /home/wj/Downloads/dataset/EuRoC/ROS_bag/MH_05_difficult.bag

NOTEThe software does not run on EuRoC MH_01_easy.bag and MH_02_easy.bag. As explained in the README, the algorithm requires the sensor to start from staic in order to initialize the orientation and IMU bias. unfortunately, MH_01_easy.bag and MH_02_easy.bag do not have the initial static period.