20191028第一次提交
本代码中测试数据可以使用EUROC数据集,注意数据格式(尤其是图片的描述文件,data文件中给了mh03的样例),GPS文件只能利用真值文件伪造出来,data文件夹里提供了我伪造的MH03的GPS文件,当然我也利用实测车载数据对代码进行了验证,但是该数据不宜发布,还请见谅。
20191101
加了GPS中断仿真,修改了GPS—factor,从自动求导变成了手输雅克比,修改了三点坐标系对齐的代码。
This project forked from zzy0713/vins-gps
20191028第一次提交
本代码中测试数据可以使用EUROC数据集,注意数据格式(尤其是图片的描述文件,data文件中给了mh03的样例),GPS文件只能利用真值文件伪造出来,data文件夹里提供了我伪造的MH03的GPS文件,当然我也利用实测车载数据对代码进行了验证,但是该数据不宜发布,还请见谅。
20191101
加了GPS中断仿真,修改了GPS—factor,从自动求导变成了手输雅克比,修改了三点坐标系对齐的代码。
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