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complete pipline and test with unity_dataset

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gfuse
2021-04-15 18:20:08 +02:00
parent f4d1ce4f4f
commit 382c41725b
10 changed files with 223 additions and 77 deletions
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vio_svo/launch/unity.launch
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<launch>
<node pkg="vio_svo" type="vo" name="vio" clear_params="true" output="screen">
<!-- Camera topic to subscribe to -->
<param name="cam_topic" value="/image_converter/output_image " type="str" />
<param name="imu_topic" value="/imu_unity/imu" type="str" />
<!-- Camera calibration file -->
<rosparam file="$(find vio_svo)/param/unity.yaml" />
<!-- Default parameter settings: choose between vo_fast and vo_accurate -->
<rosparam file="$(find vio_svo)/param/vo_fast.yaml" />
<!-- Initial camera orientation, make it point downwards -->
<param name="init_rx" value="0.00" />
<param name="init_ry" value="0.00" />
<param name="init_rz" value="0.00" />
</node>
</launch>