D-PL-VINS

工具库在谷歌云盘

https://drive.google.com/drive/folders/10YQIjPiJk4pBdTS2hfJVKOWbI0u03N5w?usp=sharing

试用

1. 下载数据集 https://drive.google.com/file/d/1Ssfvhlfnd0oKTWiNjOA022hL72YPKHoX/view?usp=sharing
2. 执行如下命令 rosbag play Wheeled_Normal.bag roslaunch d-pl-vins_estimator realsense_rgbd.launch