stereo for vo 1.首先分别两个相机的内参
rosrun camera_calibration cameracalibrator.py --size row_point_nums x col_point_nums --square 0.03 image:=/usb_cam_node/image_raw camera:=/usb_cam_node
2.利用ros-stereo calib采集图像数据
rosrun camera_calibration cameracalibrator.py --approximate 0.05 --size 8x6 --square 0.108 right:=/my_stereo/right/image_raw left:=/my_stereo/left/image_raw right_camera:=/my_stereo/right left_camera:=/my_stereo/left
3.~/project/tools/calibration/stereoCalibration 生成extrinsics.yml, intrinsics.yml文件
4.按照https://blog.csdn.net/weixin_37918890/article/details/95626004填写orb-slam双目的配置文件
5.用orb-slam跑出双目的结果, 以及ins/lidar的轨迹
ORB-SLAM的代码:~/project/ORB-SLAM2
6.handeye
http://jira.allride-ai.cn:8080/browse/PV4-748
7.转换的代码 ~/project/tools/poseTrans
sudo openvpn --config openvpn.ovpn