博主是双目加imu

命令：（一定要记得改成自己的路径哦~）

cd ~/catkin_ws/

source devel/setup.bash

roslaunch vins vins_rviz.launch

source ~/catkin_ws/devel/setup.bash

rosrun vins vins_node ~/catkin_ws/src/vins_fusion/config/realsense_d435i/realsense_stereo_imu_config.yaml

source ~/catkin_ws/devel/setup.bash

rosrun loop_fusion loop_fusion_node ~/catkin_ws/src/vins_fusion/config/realsense_d435i/realsense_stereo_imu_config.yaml

rosbag play ~/catkin_ws/src/vins_fusion/bag/zoulang1.bag

代码修改：

visualization.cpp155行左右

// write result to file

ofstream foutC(VINS_RESULT_PATH, ios::app);

foutC.setf(ios::fixed, ios::floatfield);

foutC.precision(6);

foutC << header.stamp.toSec() << " ";

foutC << estimator.Ps[WINDOW_SIZE].x() << " "

<< estimator.Ps[WINDOW_SIZE].y() << " "

<< estimator.Ps[WINDOW_SIZE].z() << " "

<< tmp_Q.x() << " "

<< tmp_Q.y() << " "

<< tmp_Q.z() << " "

<< tmp_Q.w() << endl;

foutC.close();

Eigen::Vector3d tmp_T = estimator.Ps[WINDOW_SIZE];

printf("time: %f, t: %f %f %f q: %f %f %f %f \n", header.stamp.toSec(), tmp_T.x(), tmp_T.y(), tmp_T.z(),

tmp_Q.w(), tmp_Q.x(), tmp_Q.y(), tmp_Q.z());

pose_graph.cpp182行左右

if (SAVE_LOOP_PATH)

{

ofstream loop_path_file(VINS_RESULT_PATH, ios::app);

loop_path_file.setf(ios::fixed, ios::floatfield);

loop_path_file.precision(6);

loop_path_file << cur_kf->time_stamp << " ";

loop_path_file << P.x() << " "

<< P.y() << " "

<< P.z() << " "

<< Q.x() << " "

<< Q.y() << " "

<< Q.z() << " "

<< Q.w() << endl;

loop_path_file.close();

}

pose_graph.cpp828行左右

if (SAVE_LOOP_PATH)

{

ofstream loop_path_file(VINS_RESULT_PATH, ios::app);

loop_path_file.setf(ios::fixed, ios::floatfield);

loop_path_file.precision(6);

loop_path_file << (*it)->time_stamp << " ";

loop_path_file << P.x() << " "

<< P.y() << " "

<< P.z() << " "

<< Q.x() << " "

<< Q.y() << " "

<< Q.z() << " "

<< Q.w() << endl;

loop_path_file.close();

}

一开始参考的这篇博客，把我害惨了。反正谢谢学长了，大家不要盲目跟着他的改，可以参考我的斟酌一下怎么改

https://blog.csdn.net/qq_38364548/article/details/123669506?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522167980864316800188528976%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=167980864316800188528976&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-2-123669506-null-null.142^v76^insert_down38,201^v4^add_ask,239^v2^insert_chatgpt&utm_term=18.04vins-fusion&spm=1018.2226.3001.4187