驱动开发 c++ ubuntu20.04安装运行Vins-fusion

目录

一、下载编译Vins-fusion

           1. 创建工作空间vins_ws，并在src目录下git源码并编译

           2. 修改Cmakelist (四个文件夹)

           3. 添加头文件

           4. 仍然有一部分错误：

 二、编译通过！测试运行：

           1. 运行数据集Euroc

           2. 运行OAK-D 双目相机

 *补充：

三、VIns-Fusion配置参数矫正

 1. 启动Vins程序，查看输出话题

 2. 终端输入，查看程序输出position的漂移情况

 3. (将相机与板载计算机固定在无人机上之后)抱起无人机在场地内缓慢走动，在vins的输出文件夹下打开extrinsic_parameter.txt

首先，安装相关环境依赖ceres solver、eigen以及ros-noetic版本(教程很多，此处省略)。

注：ubuntu 20.04会自带一个opencv 4.2版本。

一、下载编译Vins-fusion

1. 创建工作空间vins_ws，并在src目录下git源码并编译：

git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git

cd ..

catkin_make

此时，编译会出现一系列错误：

make[2]: *** [VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/build.make:128：VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/src/camera_models/CostFunctionFactory.cc.o] 错误 1

make[1]: *** [CMakeFiles/Makefile2:843：VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/all] 错误 2

In file included from /usr/local/include/ceres/autodiff_cost_function.h:130,

from /usr/local/include/ceres/ceres.h:37,

from /home/fastpx4/dai_ws/src/VINS-Fusion/global_fusion/src/globalOpt.h:20,

from /home/fastpx4/dai_ws/src/VINS-Fusion/global_fusion/src/globalOpt.cpp:12:

/usr/local/include/ceres/internal/autodiff.h: In instantiation of ‘bool ceres::internal::AutoDifferentiate(const Functor&, const T* const*, int, T*, T**) [with int kNumResiduals = 6; ParameterDims = ceres::internal::ParameterDims; Functor = RelativeRTError; T = double]’:

/usr/local/include/ceres/autodiff_cost_function.h:194:69: required from ‘bool ceres::AutoDiffCostFunction::Evaluate(const double* const*, double*, double**) const [with CostFunctor = RelativeRTError; int kNumResiduals = 6; int ...Ns = {4, 3, 4, 3}]’

/usr/local/include/ceres/autodiff_cost_function.h:184:8: required from here

/usr/local/include/ceres/internal/autodiff.h:313:9: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims’

313 | using Parameters = typename ParameterDims::Parameters;

| ^~~~~~~~~~

/usr/local/include/ceres/internal/autodiff.h:346:47: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims’

346 | Make1stOrderPerturbations::Apply(parameters,

| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~

347 | parameters_as_jets.data());

| ~~~~~~~~~~~~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/autodiff.h:355:39: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims’

355 | Take1stOrderParts::Apply(

| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^

356 | num_outputs, residuals_as_jets.data(), jacobians);

| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/autodiff.h: In instantiation of ‘bool ceres::internal::AutoDifferentiate(const Functor&, const T* const*, int, T*, T**) [with int kNumResiduals = 3; ParameterDims = ceres::internal::ParameterDims; Functor = TError; T = double]’:

/usr/local/include/ceres/autodiff_cost_function.h:194:69: required from ‘bool ceres::AutoDiffCostFunction::Evaluate(const double* const*, double*, double**) const [with CostFunctor = TError; int kNumResiduals = 3; int ...Ns = {3}]’

/usr/local/include/ceres/autodiff_cost_function.h:184:8: required from here

/usr/local/include/ceres/internal/autodiff.h:313:9: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims’

313 | using Parameters = typename ParameterDims::Parameters;

| ^~~~~~~~~~

/usr/local/include/ceres/internal/autodiff.h:346:47: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims’

346 | Make1stOrderPerturbations::Apply(parameters,

| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~

347 | parameters_as_jets.data());

| ~~~~~~~~~~~~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/autodiff.h:355:39: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims’

355 | Take1stOrderParts::Apply(

| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^

356 | num_outputs, residuals_as_jets.data(), jacobians);

| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

In file included from /usr/local/include/ceres/internal/autodiff.h:152,

from /usr/local/include/ceres/autodiff_cost_function.h:130,

from /usr/local/include/ceres/ceres.h:37,

from /home/fastpx4/dai_ws/src/VINS-Fusion/global_fusion/src/globalOpt.h:20,

from /home/fastpx4/dai_ws/src/VINS-Fusion/global_fusion/src/globalOpt.cpp:12:

/usr/local/include/ceres/internal/variadic_evaluate.h: In instantiation of ‘bool ceres::internal::VariadicEvaluateImpl(const Functor&, const T* const*, T*, const void*) [with ParameterDims = ceres::internal::ParameterDims; Functor = RelativeRTError; T = double]’:

/usr/local/include/ceres/internal/variadic_evaluate.h:100:45: required from ‘bool ceres::internal::VariadicEvaluate(const Functor&, const T* const*, T*) [with ParameterDims = ceres::internal::ParameterDims; Functor = RelativeRTError; T = double]’

/usr/local/include/ceres/autodiff_cost_function.h:191:55: required from ‘bool ceres::AutoDiffCostFunction::Evaluate(const double* const*, double*, double**) const [with CostFunctor = RelativeRTError; int kNumResiduals = 6; int ...Ns = {4, 3, 4, 3}]’

/usr/local/include/ceres/autodiff_cost_function.h:184:8: required from here

/usr/local/include/ceres/internal/variadic_evaluate.h:74:52: error: ‘ParameterBlockIndices’ was not declared in this scope

74 | ParameterBlockIndices());

| ~~~~~~~~~~~~~~~~~~~~~^~

/usr/local/include/ceres/internal/variadic_evaluate.h: In instantiation of ‘bool ceres::internal::VariadicEvaluateImpl(const Functor&, const T* const*, T*, const void*) [with ParameterDims = ceres::internal::ParameterDims; Functor = TError; T = double]’:

/usr/local/include/ceres/internal/variadic_evaluate.h:100:45: required from ‘bool ceres::internal::VariadicEvaluate(const Functor&, const T* const*, T*) [with ParameterDims = ceres::internal::ParameterDims; Functor = TError; T = double]’

/usr/local/include/ceres/autodiff_cost_function.h:191:55: required from ‘bool ceres::AutoDiffCostFunction::Evaluate(const double* const*, double*, double**) const [with CostFunctor = TError; int kNumResiduals = 3; int ...Ns = {3}]’

/usr/local/include/ceres/autodiff_cost_function.h:184:8: required from here

/usr/local/include/ceres/internal/variadic_evaluate.h:74:52: error: ‘ParameterBlockIndices’ was not declared in this scope

make[2]: *** [VINS-Fusion/global_fusion/CMakeFiles/global_fusion_node.dir/build.make:76：VINS-Fusion/global_fusion/CMakeFiles/global_fusion_node.dir/src/globalOpt.cpp.o] 错误 1

make[2]: *** 正在等待未完成的任务....

In file included from /usr/local/include/ceres/internal/parameter_dims.h:37,

from /usr/local/include/ceres/internal/autodiff.h:151,

from /usr/local/include/ceres/autodiff_cost_function.h:130,

from /usr/local/include/ceres/ceres.h:37,

from /home/fastpx4/dai_ws/src/VINS-Fusion/global_fusion/src/globalOpt.h:20,

from /home/fastpx4/dai_ws/src/VINS-Fusion/global_fusion/src/globalOptNode.cpp:13:

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:64:21: error: ‘integer_sequence’ is not a member of ‘std’

64 | struct SumImpl> {

| ^~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:64:21: error: ‘integer_sequence’ is not a member of ‘std’

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:64:46: error: wrong number of template arguments (3, should be 1)

64 | struct SumImpl> {

| ^~~

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template struct ceres::internal::SumImpl’

60 | struct SumImpl;

| ^~~~~~~

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:64:49: error: expected unqualified-id before ‘>’ token

64 | struct SumImpl> {

| ^~

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:70:21: error: ‘integer_sequence’ is not a member of ‘std’

70 | struct SumImpl> {

| ^~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:70:21: error: ‘integer_sequence’ is not a member of ‘std’

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:70:51: error: wrong number of template arguments (4, should be 1)

70 | struct SumImpl> {

| ^~~

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template struct ceres::internal::SumImpl’

60 | struct SumImpl;

| ^~~~~~~

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:70:54: error: expected unqualified-id before ‘>’ token

70 | struct SumImpl> {

| ^~

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:77:21: error: ‘integer_sequence’ is not a member of ‘std’

77 | struct SumImpl> {

| ^~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:77:21: error: ‘integer_sequence’ is not a member of ‘std’

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:77:59: error: wrong number of template arguments (6, should be 1)

77 | struct SumImpl> {

| ^~~

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template struct ceres::internal::SumImpl’

60 | struct SumImpl;

| ^~~~~~~

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:77:62: error: expected unqualified-id before ‘>’ token

77 | struct SumImpl> {

| ^~

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:84:21: error: ‘integer_sequence’ is not a member of ‘std’

84 | struct SumImpl> {

| ^~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:84:21: error: ‘integer_sequence’ is not a member of ‘std’

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:84:41: error: wrong number of template arguments (2, should be 1)

84 | struct SumImpl> {

| ^

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template struct ceres::internal::SumImpl’

60 | struct SumImpl;

| ^~~~~~~

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:84:42: error: expected unqualified-id before ‘>’ token

84 | struct SumImpl> {

| ^~

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:90:21: error: ‘integer_sequence’ is not a member of ‘std’

90 | struct SumImpl> {

| ^~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:90:21: error: ‘integer_sequence’ is not a member of ‘std’

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:90:38: error: template argument 1 is invalid

90 | struct SumImpl> {

| ^

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:90:39: error: expected unqualified-id before ‘>’ token

90 | struct SumImpl> {

| ^~

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:132:39: error: ‘integer_sequence’ is not a member of ‘std’

132 | struct ExclusiveScanImpl,

| ^~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:132:39: error: ‘integer_sequence’ is not a member of ‘std’

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:132:67: error: template argument 3 is invalid

132 | struct ExclusiveScanImpl,

| ^

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:132:67: error: type/value mismatch at argument 4 in template parameter list for ‘template struct ceres::internal::ExclusiveScanImpl’

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:132:67: note: expected a type, got ‘N’

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:141:39: error: ‘integer_sequence’ is not a member of ‘std’

141 | struct ExclusiveScanImpl, SeqOut> {

| ^~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:141:39: error: ‘integer_sequence’ is not a member of ‘std’

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:141:57: error: wrong number of template arguments (3, should be 4)

141 | struct ExclusiveScanImpl, SeqOut> {

| ^

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:129:8: note: provided for ‘template struct ceres::internal::ExclusiveScanImpl’

129 | struct ExclusiveScanImpl;

| ^~~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:155:53: error: ‘integer_sequence’ is not a member of ‘std’

155 | typename ExclusiveScanImpl>::Type;

| ^~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:155:53: error: ‘integer_sequence’ is not a member of ‘std’

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:155:70: error: template argument 4 is invalid

155 | typename ExclusiveScanImpl>::Type;

| ^

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:155:16: error: expected nested-name-specifier

155 | typename ExclusiveScanImpl>::Type;

| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

In file included from /usr/local/include/ceres/internal/autodiff.h:151,

from /usr/local/include/ceres/autodiff_cost_function.h:130,

from /usr/local/include/ceres/ceres.h:37,

from /home/fastpx4/dai_ws/src/VINS-Fusion/global_fusion/src/globalOpt.h:20,

from /home/fastpx4/dai_ws/src/VINS-Fusion/global_fusion/src/globalOptNode.cpp:13:

/usr/local/include/ceres/internal/parameter_dims.h:44:55: error: ‘integer_sequence’ is not a member of ‘std’

44 | constexpr bool IsValidParameterDimensionSequence(std::integer_sequence) {

| ^~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/parameter_dims.h:44:72: error: expected primary-expression before ‘int’

44 | constexpr bool IsValidParameterDimensionSequence(std::integer_sequence) {

| ^~~

/usr/local/include/ceres/internal/parameter_dims.h:50:10: error: ‘template constexpr const bool ceres::internal::IsValidParameterDimensionSequence’ redeclared as different kind of entity

50 | std::integer_sequence) {

| ^~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/parameter_dims.h:44:16: note: previous declaration ‘constexpr const bool ceres::internal::IsValidParameterDimensionSequence’

44 | constexpr bool IsValidParameterDimensionSequence(std::integer_sequence) {

| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/parameter_dims.h:50:10: error: ‘integer_sequence’ is not a member of ‘std’

50 | std::integer_sequence) {

| ^~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/parameter_dims.h:50:27: error: expected primary-expression before ‘int’

50 | std::integer_sequence) {

| ^~~

/usr/local/include/ceres/internal/parameter_dims.h:50:40: error: expected ‘)’ before ‘>’ token

50 | std::integer_sequence) {

| ^

| )

/usr/local/include/ceres/internal/parameter_dims.h:49:49: note: to match this ‘(’

49 | constexpr bool IsValidParameterDimensionSequence(

| ^

/usr/local/include/ceres/internal/parameter_dims.h:69:27: error: ‘integer_sequence’ in namespace ‘std’ does not name a template type

69 | using Parameters = std::integer_sequence;

| ^~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/parameter_dims.h:74:41: error: there are no arguments to ‘Parameters’ that depend on a template parameter, so a declaration of ‘Parameters’ must be available [-fpermissive]

74 | IsValidParameterDimensionSequence(Parameters());

| ^~~~~~~~~~

/usr/local/include/ceres/internal/parameter_dims.h:74:41: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated)

/usr/local/include/ceres/internal/parameter_dims.h:85:16: error: ‘integer_sequence’ is not a member of ‘std’

85 | Sum>::Value;

| ^~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/parameter_dims.h:85:16: error: ‘integer_sequence’ is not a member of ‘std’

/usr/local/include/ceres/internal/parameter_dims.h:85:43: error: template argument 1 is invalid

85 | Sum>::Value;

| ^~

/usr/local/include/ceres/internal/parameter_dims.h:101:20: error: ‘std::integer_sequence’ has not been declared

101 | T* ptr, std::integer_sequence) {

| ^~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/parameter_dims.h:101:36: error: expected ‘,’ or ‘...’ before ‘<’ token

101 | T* ptr, std::integer_sequence) {

| ^

/usr/local/include/ceres/internal/parameter_dims.h: In static member function ‘static std::array::kNumParameterBlocks> ceres::internal::ParameterDims::GetUnpackedParameters(T*)’:

/usr/local/include/ceres/internal/parameter_dims.h:94:35: error: ‘Parameters’ was not declared in this scope; did you mean ‘ParameterDims’?

94 | using Offsets = ExclusiveScan;

| ^~~~~~~~~~

| ParameterDims

/usr/local/include/ceres/internal/parameter_dims.h:94:45: error: template argument 1 is invalid

94 | using Offsets = ExclusiveScan;

| ^

/usr/local/include/ceres/internal/parameter_dims.h:95:39: error: there are no arguments to ‘Offsets’ that depend on a template parameter, so a declaration of ‘Offsets’ must be available [-fpermissive]

95 | return GetUnpackedParameters(ptr, Offsets());

| ^~~~~~~

In file included from /usr/local/include/ceres/internal/autodiff.h:152,

from /usr/local/include/ceres/autodiff_cost_function.h:130,

from /usr/local/include/ceres/ceres.h:37,

from /home/fastpx4/dai_ws/src/VINS-Fusion/global_fusion/src/globalOpt.h:20,

from /home/fastpx4/dai_ws/src/VINS-Fusion/global_fusion/src/globalOptNode.cpp:13:

/usr/local/include/ceres/internal/variadic_evaluate.h: At global scope:

/usr/local/include/ceres/internal/variadic_evaluate.h:51:39: error: ‘std::integer_sequence’ has not been declared

51 | std::integer_sequence) {

| ^~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/variadic_evaluate.h:51:55: error: expected ‘,’ or ‘...’ before ‘<’ token

51 | std::integer_sequence) {

| ^

/usr/local/include/ceres/internal/variadic_evaluate.h:62:39: error: ‘std::integer_sequence’ has not been declared

62 | std::integer_sequence) {

| ^~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/variadic_evaluate.h:62:55: error: expected ‘,’ or ‘...’ before ‘<’ token

62 | std::integer_sequence) {

| ^

/usr/local/include/ceres/internal/variadic_evaluate.h: In function ‘bool ceres::internal::VariadicEvaluateImpl(const Functor&, const T* const*, T*, const void*)’:

/usr/local/include/ceres/internal/variadic_evaluate.h:71:12: error: ‘make_integer_sequence’ in namespace ‘std’ does not name a template type

71 | std::make_integer_sequence;

| ^~~~~~~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/variadic_evaluate.h:74:31: error: there are no arguments to ‘ParameterBlockIndices’ that depend on a template parameter, so a declaration of ‘ParameterBlockIndices’ must be available [-fpermissive]

74 | ParameterBlockIndices());

| ^~~~~~~~~~~~~~~~~~~~~

In file included from /usr/local/include/ceres/autodiff_cost_function.h:130,

from /usr/local/include/ceres/ceres.h:37,

from /home/fastpx4/dai_ws/src/VINS-Fusion/global_fusion/src/globalOpt.h:20,

from /home/fastpx4/dai_ws/src/VINS-Fusion/global_fusion/src/globalOptNode.cpp:13:

/usr/local/include/ceres/internal/autodiff.h: At global scope:

/usr/local/include/ceres/internal/autodiff.h:217:39: error: ‘integer_sequence’ is not a member of ‘std’

217 | struct Make1stOrderPerturbations,

| ^~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/autodiff.h:217:39: error: ‘integer_sequence’ is not a member of ‘std’

/usr/local/include/ceres/internal/autodiff.h:217:69: error: template argument 1 is invalid

217 | struct Make1stOrderPerturbations,

| ^

/usr/local/include/ceres/internal/autodiff.h:232:39: error: ‘integer_sequence’ is not a member of ‘std’

232 | struct Make1stOrderPerturbations, ParameterIdx, Total> {

| ^~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/autodiff.h:232:39: error: ‘integer_sequence’ is not a member of ‘std’

/usr/local/include/ceres/internal/autodiff.h:232:59: error: template argument 1 is invalid

232 | struct Make1stOrderPerturbations, ParameterIdx, Total> {

| ^

/usr/local/include/ceres/internal/autodiff.h:280:31: error: ‘integer_sequence’ is not a member of ‘std’

280 | struct Take1stOrderParts,

| ^~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/autodiff.h:280:31: error: ‘integer_sequence’ is not a member of ‘std’

/usr/local/include/ceres/internal/autodiff.h:280:61: error: template argument 1 is invalid

280 | struct Take1stOrderParts,

| ^

/usr/local/include/ceres/internal/autodiff.h:296:31: error: ‘integer_sequence’ is not a member of ‘std’

296 | struct Take1stOrderParts, ParameterIdx, Offset> {

| ^~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/autodiff.h:296:31: error: ‘integer_sequence’ is not a member of ‘std’

/usr/local/include/ceres/internal/autodiff.h:296:51: error: template argument 1 is invalid

296 | struct Take1stOrderParts, ParameterIdx, Offset> {

| ^

In file included from /usr/local/include/ceres/ceres.h:42,

from /home/fastpx4/dai_ws/src/VINS-Fusion/global_fusion/src/globalOpt.h:20,

from /home/fastpx4/dai_ws/src/VINS-Fusion/global_fusion/src/globalOptNode.cpp:13:

/usr/local/include/ceres/cost_function_to_functor.h:161:29: error: ‘std::integer_sequence’ has not been declared

161 | std::integer_sequence) {

| ^~~~~~~~~~~~~~~~

/usr/local/include/ceres/cost_function_to_functor.h:161:45: error: expected ‘,’ or ‘...’ before ‘<’ token

161 | std::integer_sequence) {

| ^

/usr/local/include/ceres/cost_function_to_functor.h: In member function ‘bool ceres::CostFunctionToFunctor::operator()(const T*, Ts* ...) const’:

/usr/local/include/ceres/cost_function_to_functor.h:147:14: error: ‘make_integer_sequence’ in namespace ‘std’ does not name a template type

147 | std::make_integer_sequence

| ^~~~~~~~~~~~~~~~~~~~~

/usr/local/include/ceres/cost_function_to_functor.h:150:41: error: there are no arguments to ‘Indices’ that depend on a template parameter, so a declaration of ‘Indices’ must be available [-fpermissive]

150 | GetParameterPointers(params, Indices());

| ^~~~~~~

In file included from /usr/local/include/ceres/dynamic_numeric_diff_cost_function.h:44,

from /usr/local/include/ceres/ceres.h:48,

from /home/fastpx4/dai_ws/src/VINS-Fusion/global_fusion/src/globalOpt.h:20,

from /home/fastpx4/dai_ws/src/VINS-Fusion/global_fusion/src/globalOptNode.cpp:13:

/usr/local/include/ceres/internal/numeric_diff.h: At global scope:

/usr/local/include/ceres/internal/numeric_diff.h:441:48: error: ‘integer_sequence’ is not a member of ‘std’

441 | std::integer_sequence,

| ^~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/numeric_diff.h:441:48: error: ‘integer_sequence’ is not a member of ‘std’

/usr/local/include/ceres/internal/numeric_diff.h:441:78: error: template argument 2 is invalid

441 | std::integer_sequence,

| ^

/usr/local/include/ceres/internal/numeric_diff.h:485:63: error: ‘integer_sequence’ is not a member of ‘std’

485 | struct EvaluateJacobianForParameterBlocks,

| ^~~~~~~~~~~~~~~~

/usr/local/include/ceres/internal/numeric_diff.h:485:63: error: ‘integer_sequence’ is not a member of ‘std’

/usr/local/include/ceres/internal/numeric_diff.h:485:83: error: template argument 2 is invalid

485 | struct EvaluateJacobianForParameterBlocks,

| ^

make[2]: *** [VINS-Fusion/global_fusion/CMakeFiles/global_fusion_node.dir/build.make:63：VINS-Fusion/global_fusion/CMakeFiles/global_fusion_node.dir/src/globalOptNode.cpp.o] 错误 1

make[1]: *** [CMakeFiles/Makefile2:1167：VINS-Fusion/global_fusion/CMakeFiles/global_fusion_node.dir/all] 错误 2

make: *** [Makefile:141：all] 错误 2

Invoking "make -j8 -l8" failed

2. 修改Cmakelist (四个文件夹)

1）. 将c++11 修改为c++14

set(CMAKE_BUILD_TYPE "Release")

set(CMAKE_CXX_FLAGS "-std=c++14")

set(CMAKE_CXX_FLAGS_RELEASE "-O3 -fPIC")

2）. 明确指定find_package中的OpenCV的版本：

#find_package(OpenCV REQUIRED)   find_package(OpenCV 4 REQUIRED)

3. 添加头文件

1). camera_models>include>camodocal>chessboard>Chessboard.h中添加

#include

#include

2). 在以下几个文件中添加：

     camera_models/include/camodocal/calib/CameraCalibration.h     loop_fusion/src/pose_graph.h     vins_estimator/src/featureTracker/feature_tracker.h     loop_fusion/src/ThirdParty/DVision/BRIEF.h

#include

#include

4. 仍然有一部分错误：

error: ‘CV_LOAD_IMAGE_GRAYSCALE’ was not declared in this scope

122 | imLeft = cv::imread(leftImagePath, CV_LOAD_IMAGE_GRAYSCALE );

| ^~~~~~~~~~~~~~~~~~~~~~~

/home/fastpx4/dai_ws/src/VINS-Fusion/vins_estimator/src/KITTIOdomTest.cpp: In function ‘int main(int, char**)’:

/home/fastpx4/dai_ws/src/VINS-Fusion/vins_estimator/src/KITTIOdomTest.cpp:95:39: error: ‘CV_LOAD_IMAGE_GRAYSCALE’ was not declared in this scope

95 | imLeft = cv::imread(leftImagePath, CV_LOAD_IMAGE_GRAYSCALE );

|

处理：将报错文件中的 CV_LOAD_IMAGE_GRAYSCALE修改为cv::IMREAD_GRAYSCALE

 1). 修改报错文件：VINS-Fusion/vins_estimator/src/KITTIGPSTest.cpp

122 imLeft = cv::imread(leftImagePath, CV_LOAD_IMAGE_GRAYSCALE );

123 imRight = cv::imread(rightImagePath, CV_LOAD_IMAGE_GRAYSCALE );

修改后：

imLeft = cv::imread(leftImagePath, cv::IMREAD_GRAYSCALE );

imRight = cv::imread(rightImagePath, cv::IMREAD_GRAYSCALE );

 2). 修改文件：VINS-Fusion/vins_estimator/src/KITTIOdomTest.cpp

imLeft = cv::imread(leftImagePath, CV_LOAD_IMAGE_GRAYSCALE );

sensor_msgs::ImagePtr imLeftMsg = cv_bridge::CvImage(std_msgs::Header(), "mono8", imLeft).toImageMsg();

imLeftMsg->header.stamp = ros::Time(imageTimeList[i]);

pubLeftImage.publish(imLeftMsg);

imRight = cv::imread(rightImagePath, CV_LOAD_IMAGE_GRAYSCALE );

sensor_msgs::ImagePtr imRightMsg = cv_bridge::CvImage(std_msgs::Header(), "mono8", imRight).toImageMsg();

imRightMsg->header.stamp = ros::Time(imageTimeList[i]);

pubRightImage.publish(imRightMsg);

修改后：

imLeft = cv::imread(leftImagePath, cv::IMREAD_GRAYSCALE );

sensor_msgs::ImagePtr imLeftMsg = cv_bridge::CvImage(std_msgs::Header(), "mono8", imLeft).toImageMsg();

imLeftMsg->header.stamp = ros::Time(imageTimeList[i]);

pubLeftImage.publish(imLeftMsg);

imRight = cv::imread(rightImagePath, cv::IMREAD_GRAYSCALE );

sensor_msgs::ImagePtr imRightMsg = cv_bridge::CvImage(std_msgs::Header(), "mono8", imRight).toImageMsg();

imRightMsg->header.stamp = ros::Time(imageTimeList[i]);

pubRightImage.publish(imRightMsg);

 二、编译通过！测试运行：

source devel/setup.bash

1. 运行数据集Euroc：

roslaunch vins vins_rviz.launch

rosrun vins vins_node src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml

rosrun loop_fusion loop_fusion_node src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml

cd ../data/

rosbag play MH_01_easy.bag

运行成功

2. 运行OAK-D 双目相机：（教程网址）

1.4. ubuntu 18.04 OAK-D系列相机 运行VINS-Fusion 双目+IMU — DepthAI Docs 0.3.0.0 documentationhttps://docs.oakchina.cn/en/latest/pages/HighLevel/ros/ros_VINS_Fusion.html按照官网教程安装相机驱动，可以使用系统自带的opencv4.2版本进行编译。

roslaunch depthai_examples stereo_inertial_node.launch enableRviz:=false depth_aligned:=false

roslaunch vins vins_rviz.launch

rosrun vins vins_node ~/dai_ws/src/VINS-Fusion/config/oak_d/config.yaml

(optional) rosrun loop_fusion loop_fusion_node ~/dai_ws/src/VINS-Fusion/config/oak_d/config.yaml

 注意：直接使用官网配置文件可能导致无法运行

在官网教程中使用的是OAK-D-S2相机，我使用的是OAK-D-PRO相机，配置参数有一些区别，需要对配置文件进行针对性的修改(在left.yaml和right.yaml文件中修改相机畸变参数)，才可以正常运行VINS-Fusion程序。

1. 启动相机驱动，确认相机正常运行：

roslaunch depthai_examples stereo_inertial_node.launch depth_aligned:=false

*depth_aligned:=false 此参数控制是否输出深度映射图像，这里是不输出

2.查看话题输出

rostopic list

/clicked_point

/initialpose

/joint_states

/move_base_simple/goal

/nodelet_manager/bond

/rosout

/rosout_agg

/stereo_inertial_publisher/right/camera_info

/stereo_inertial_publisher/right/image_rect

/stereo_inertial_publisher/stereo/camera_info

/stereo_inertial_publisher/stereo/depth

/stereo_inertial_publisher/stereo/image

/stereo_inertial_publisher/stereo/image/compressed

/stereo_inertial_publisher/stereo/image/compressed/parameter_descriptions

/stereo_inertial_publisher/stereo/image/compressed/parameter_updates

/stereo_inertial_publisher/stereo/image/compressedDepth

/stereo_inertial_publisher/stereo/image/compressedDepth/parameter_descriptions

/stereo_inertial_publisher/stereo/image/compressedDepth/parameter_updates

/stereo_inertial_publisher/stereo/image/theora

/stereo_inertial_publisher/stereo/image/theora/parameter_descriptions

/stereo_inertial_publisher/stereo/image/theora/parameter_updates

/stereo_inertial_publisher/stereo/points

/tf

/tf_static

3. 输出话题数据，并将参数写入left.yaml和right.yaml中：

rostopic echo /stereo_inertial_publisher/left/camera_info

header:

seq: 7

stamp:

secs: 1711676690

nsecs: 777232861

frame_id: "oak_left_camera_optical_frame"

height: 720

width: 1280

distortion_model: "rational_polynomial"

D: [-11.679576873779297, 105.025146484375, -0.0006934021948836744, 0.0018576113507151604, -51.34315490722656, -11.695950508117676, 104.31090545654297, -49.294837951660156]

K: [798.2916259765625, 0.0, 651.572265625, 0.0, 798.2916259765625, 361.30743408203125, 0.0, 0.0, 1.0]

R: [0.9997826814651489, 0.002714010654017329, -0.020668860524892807, -0.00276787206530571, 0.999992847442627, -0.00257775466889143, 0.020661717280745506, 0.002634403295814991, 0.9997830390930176]

P: [799.2300415039062, 0.0, 654.2191772460938, 59.83273947490379, 0.0, 799.2300415039062, 359.2149658203125, 0.0, 0.0, 0.0, 1.0, 0.0]

binning_x: 0

binning_y: 0

roi:

x_offset: 0

y_offset: 0

height: 0

width: 0

do_rectify: False

---

将K矩阵对应填入文件left.yaml中

%YAML:1.0

---

model_type: PINHOLE

camera_name: camera

image_width: 640

image_height: 400

distortion_parameters:

k1: 0.011099142353676499

k2: -0.05769482092275897

p1: -0.0009757653113701839

p2: 0.0025548857914714745

projection_parameters:

fx: 798.2916259765625

fy: 798.2916259765625

cx: 651.572265625

cy: 361.30743408203125

rostopic echo /stereo_inertial_publisher/right/camera_info

header:

seq: 291

stamp:

secs: 1711676701

nsecs: 243829779

frame_id: "oak_right_camera_optical_frame"

height: 720

width: 1280

distortion_model: "rational_polynomial"

D: [-6.891867160797119, 81.7864990234375, -0.00016954877355601639, 0.0002883463748730719, -11.735593795776367, -6.942117691040039, 81.16423034667969, -9.775546073913574]

K: [799.2300415039062, 0.0, 654.2191772460938, 0.0, 799.2300415039062, 359.2149658203125, 0.0, 0.0, 1.0]

R: [0.999980092048645, -0.0040285540744662285, 0.004851967561990023, 0.004015895072370768, 0.9999884963035583, 0.002615976147353649, -0.0048624505288898945, -0.0025964390952140093, 0.9999848008155823]

P: [799.2300415039062, 0.0, 654.2191772460938, 0.0, 0.0, 799.2300415039062, 359.2149658203125, 0.0, 0.0, 0.0, 1.0, 0.0]

binning_x: 0

binning_y: 0

roi:

x_offset: 0

y_offset: 0

height: 0

width: 0

do_rectify: False

---

%YAML:1.0

---

model_type: PINHOLE

camera_name: camera

image_width: 640

image_height: 400

distortion_parameters:

k1: 0.005536021298200547

k2: -0.048229113205249675

p1: -0.0002985290327403832

p2: 0.0037187807087799125

projection_parameters:

fx: 799.2300415039062

fy: 799.2300415039062

cx: 654.2191772460938

cy: 359.2149658203125

 修改完成后，重新启动相机驱动及VIns-Fusion程序，即可成功运行。

*补充：

在文件(depthai-ros/depthai_examples/launch/stereo_inertial_node.launch)中可以发现，参数depth_aligned会决定输出话题是左右目图像还是深度图映射。

args="load depth_image_proc/point_cloud_xyzrgb nodelet_manager">

args="load depth_image_proc/point_cloud_xyz nodelet_manager">

如果启动相机驱动时不关闭这个参数，话题输出会不同。

/clicked_point

/initialpose

/joint_states

/move_base_simple/goal

/nodelet_manager/bond

/rosout

/rosout_agg

/stereo_inertial_publisher/color/camera_info

/stereo_inertial_publisher/color/image

/stereo_inertial_publisher/color/image/compressed

/stereo_inertial_publisher/color/image/compressed/parameter_descriptions

/stereo_inertial_publisher/color/image/compressed/parameter_updates

/stereo_inertial_publisher/color/image/compressedDepth

/stereo_inertial_publisher/color/image/compressedDepth/parameter_descriptions

/stereo_inertial_publisher/color/image/compressedDepth/parameter_updates

/stereo_inertial_publisher/color/image/theora

/stereo_inertial_publisher/color/image/theora/parameter_descriptions

/stereo_inertial_publisher/color/image/theora/parameter_updates

/stereo_inertial_publisher/color/preview/camera_info

/stereo_inertial_publisher/color/preview/image

/stereo_inertial_publisher/color/preview/image/compressed

/stereo_inertial_publisher/color/preview/image/compressed/parameter_descriptions

/stereo_inertial_publisher/color/preview/image/compressed/parameter_updates

/stereo_inertial_publisher/color/preview/image/compressedDepth

/stereo_inertial_publisher/color/preview/image/compressedDepth/parameter_descriptions

/stereo_inertial_publisher/color/preview/image/compressedDepth/parameter_updates

/stereo_inertial_publisher/color/preview/image/theora

/stereo_inertial_publisher/color/preview/image/theora/parameter_descriptions

/stereo_inertial_publisher/color/preview/image/theora/parameter_updates

/stereo_inertial_publisher/color/yolov4_Spatial_detections

/stereo_inertial_publisher/imu

/stereo_inertial_publisher/stereo/camera_info

/stereo_inertial_publisher/stereo/depth

/stereo_inertial_publisher/stereo/depth/compressed

/stereo_inertial_publisher/stereo/depth/compressed/parameter_descriptions

/stereo_inertial_publisher/stereo/depth/compressed/parameter_updates

/stereo_inertial_publisher/stereo/depth/compressedDepth

/stereo_inertial_publisher/stereo/depth/compressedDepth/parameter_descriptions

/stereo_inertial_publisher/stereo/depth/compressedDepth/parameter_updates

/stereo_inertial_publisher/stereo/depth/theora

/stereo_inertial_publisher/stereo/depth/theora/parameter_descriptions

/stereo_inertial_publisher/stereo/depth/theora/parameter_updates

/stereo_inertial_publisher/stereo/image

/stereo_inertial_publisher/stereo/image/compressed

/stereo_inertial_publisher/stereo/image/compressed/parameter_descriptions

/stereo_inertial_publisher/stereo/image/compressed/parameter_updates

/stereo_inertial_publisher/stereo/image/compressedDepth

/stereo_inertial_publisher/stereo/image/compressedDepth/parameter_descriptions

/stereo_inertial_publisher/stereo/image/compressedDepth/parameter_updates

/stereo_inertial_publisher/stereo/image/theora

/stereo_inertial_publisher/stereo/image/theora/parameter_descriptions

/stereo_inertial_publisher/stereo/image/theora/parameter_updates

/stereo_inertial_publisher/stereo/points

/tf

/tf_static

三、VIns-Fusion配置参数矫正

参考浙江大学Fast-Lab教程

【完结】从0制作自主空中机器人 | 开源 | 浙江大学Fast-Lab_哔哩哔哩_bilibilihttps://www.bilibili.com/video/BV1WZ4y167me/?spm_id_from=333.1007.top_right_bar_window_custom_collection.content.click&vd_source=7efc9d03142aa088952c10884de6dadfZJU-FAST-Lab/Fast-Drone-250: hardware and software design of the 250mm autonomous drone (github.com)https://github.com/ZJU-FAST-Lab/Fast-Drone-250

1）启动Vins程序，查看输出话题；

/clicked_point

/feature_tracker/feature

/globalEstimator/car_model

/globalEstimator/global_path

/initialpose

/joint_states

/loop_fusion/base_path

/loop_fusion/camera_pose_visual

/loop_fusion/margin_cloud_loop_rect

/loop_fusion/pose_graph

/move_base_simple/goal

/nodelet_manager/bond

/rosout

/rosout_agg

/stereo_inertial_publisher/imu

/stereo_inertial_publisher/left/camera_info

/stereo_inertial_publisher/left/image_rect

/stereo_inertial_publisher/left/image_rect/compressed

/stereo_inertial_publisher/left/image_rect/compressed/parameter_descriptions

/stereo_inertial_publisher/left/image_rect/compressed/parameter_updates

/stereo_inertial_publisher/left/image_rect/compressedDepth

/stereo_inertial_publisher/left/image_rect/compressedDepth/parameter_descriptions

/stereo_inertial_publisher/left/image_rect/compressedDepth/parameter_updates

/stereo_inertial_publisher/left/image_rect/theora

/stereo_inertial_publisher/left/image_rect/theora/parameter_descriptions

/stereo_inertial_publisher/left/image_rect/theora/parameter_updates

/stereo_inertial_publisher/right/camera_info

/stereo_inertial_publisher/right/image_rect

/stereo_inertial_publisher/right/image_rect/compressed

/stereo_inertial_publisher/right/image_rect/compressed/parameter_descriptions

/stereo_inertial_publisher/right/image_rect/compressed/parameter_updates

/stereo_inertial_publisher/right/image_rect/compressedDepth

/stereo_inertial_publisher/right/image_rect/compressedDepth/parameter_descriptions

/stereo_inertial_publisher/right/image_rect/compressedDepth/parameter_updates

/stereo_inertial_publisher/right/image_rect/theora

/stereo_inertial_publisher/right/image_rect/theora/parameter_descriptions

/stereo_inertial_publisher/right/image_rect/theora/parameter_updates

/stereo_inertial_publisher/stereo/camera_info

/stereo_inertial_publisher/stereo/depth

/stereo_inertial_publisher/stereo/depth/compressed

/stereo_inertial_publisher/stereo/depth/compressed/parameter_descriptions

/stereo_inertial_publisher/stereo/depth/compressed/parameter_updates

/stereo_inertial_publisher/stereo/depth/compressedDepth

/stereo_inertial_publisher/stereo/depth/compressedDepth/parameter_descriptions

/stereo_inertial_publisher/stereo/depth/compressedDepth/parameter_updates

/stereo_inertial_publisher/stereo/depth/theora

/stereo_inertial_publisher/stereo/depth/theora/parameter_descriptions

/stereo_inertial_publisher/stereo/depth/theora/parameter_updates

/stereo_inertial_publisher/stereo/image

/stereo_inertial_publisher/stereo/image/compressed

/stereo_inertial_publisher/stereo/image/compressed/parameter_descriptions

/stereo_inertial_publisher/stereo/image/compressed/parameter_updates

/stereo_inertial_publisher/stereo/image/compressedDepth

/stereo_inertial_publisher/stereo/image/compressedDepth/parameter_descriptions

/stereo_inertial_publisher/stereo/image/compressedDepth/parameter_updates

/stereo_inertial_publisher/stereo/image/theora

/stereo_inertial_publisher/stereo/image/theora/parameter_descriptions

/stereo_inertial_publisher/stereo/image/theora/parameter_updates

/stereo_inertial_publisher/stereo/points

/tf

/tf_static

/vins_cam_switch

/vins_fusion/camera_pose

/vins_fusion/camera_pose_visual

/vins_fusion/extrinsic

/vins_fusion/image_track

/vins_fusion/imu_propagate

/vins_fusion/key_poses

/vins_fusion/keyframe_point

/vins_fusion/keyframe_pose

/vins_fusion/margin_cloud

/vins_fusion/odometry

/vins_fusion/path

/vins_fusion/point_cloud

/vins_imu_switch

/vins_restart

 2）终端输入，查看程序输出position的漂移情况

rostopic echo /vins_fusion/imu_propagate

header:

seq: 30359

stamp:

secs: 1711678556

nsecs: 905394554

frame_id: "world"

child_frame_id: ''

pose:

pose:

position:

x: -0.0018558396542408368

y: 0.0006243309409628052

z: 0.002800527454180711

orientation:

x: 0.8243210546283225

y: 0.009086388930822076

z: -0.5658114242209056

w: 0.01642161438402998

covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

twist:

twist:

linear:

x: 0.0003866194433702027

y: 0.0008024273412679251

z: 0.00022701032056310962

angular:

x: 0.0

y: 0.0

z: 0.0

covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

---

3）(将相机与板载计算机固定在无人机上之后)抱起无人机在场地内缓慢走动，在vins的输出文件夹下打开extrinsic_parameter.txt

      将文件内容替换在config.yaml文件中对应位置。

%YAML:1.0

#common parameters

#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam;

imu: 1

num_of_cam: 2

#imu_topic: "/mavros/imu/data_raw"

imu_topic: "/stereo_inertial_publisher/imu"

#/stereo_inertial_publisher/imu

image0_topic: "/stereo_inertial_publisher/left/image_rect"

image1_topic: "/stereo_inertial_publisher/right/image_rect"

output_path: "/home/fastpx4/abc/vins_output"

cam0_calib: "left.yaml"

cam1_calib: "right.yaml"

image_width: 640

#640

image_height: 400

#400

# Extrinsic parameter between IMU and Camera.

estimate_extrinsic: 1 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.

# 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess.

body_T_cam0: !!opencv-matrix

rows: 4

cols: 4

dt: d

data: [ 1.1582253353211946e-02, 9.9992842406279825e-01,

2.9996930761942851e-03, -1.5936022004130995e-02,

9.9992731716619121e-01, -1.1572090774962351e-02,

-3.3833563099195255e-03, -8.4883987362590493e-02,

-3.3484014224460091e-03, 3.0386619399666269e-03,

-9.9998977731851335e-01, -3.4809993558054787e-02, 0., 0., 0., 1. ]

body_T_cam1: !!opencv-matrix

rows: 4

cols: 4

dt: d

data: [ 1.1352436793192977e-02, 9.9993544249239663e-01,

4.8272807242477774e-04, -1.5103709396341888e-02,

9.9993074772788504e-01, -1.1350883268602896e-02,

-3.1076031560835337e-03, -9.5661037692648648e-03,

-3.1019231469685844e-03, 5.1797351081671458e-04,

-9.9999505487588936e-01, -3.3604401456376665e-02, 0., 0., 0., 1. ]

#Multiple thread support

multiple_thread: 1

#feature traker paprameters

max_cnt: 130 # max feature number in feature tracking

min_dist: 30 # min distance between two features

freq: 0 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image

F_threshold: 1.0 # ransac threshold (pixel)

show_track: 1 # publish tracking image as topic

flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy

#optimization parameters

max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time

max_num_iterations: 8 # max solver itrations, to guarantee real time

keyframe_parallax: 10.0 # keyframe selection threshold (pixel)

#imu parameters The more accurate parameters you provide, the better performance

acc_n: 0.1 # accelerometer measurement noise standard deviation.

gyr_n: 0.01 # gyroscope measurement noise standard deviation.

acc_w: 0.001 # accelerometer bias random work noise standard deviation.

gyr_w: 0.0001 # gyroscope bias random work noise standard deviation.

g_norm: 9.81007 # gravity magnitude

#unsynchronization parameters

estimate_td: 1 # online estimate time offset between camera and imu

td: 0.0 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock)

#loop closure parameters

load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path'

pose_graph_save_path: "/home/fastpx4/abc/vins_output" # save and load path

save_image: 1 # save image in pose graph for visualization prupose; you can close this function by setting 0

*重复上述过程，覆盖配置参数，直到话题中位置输出收敛到满意程度。

ego-planner程序还在调试中，后续更新！

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