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admin1
2022-08-30 19:11:24 +03:00
parent 6dfe0a8dc5
commit 60e64db720
3 changed files with 22 additions and 22 deletions
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6
loop_fusion/launch/posegraph.launch
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@@ -10,10 +10,10 @@
<!-- INPUT: keyframe poses / marginalized poses -->
<remap from="/cam0/image_raw" to="/stereo/left/image_raw"/>
<remap from="/cam0/image_raw" to="/cam0/image_raw"/>
<remap from="/vins_estimator/extrinsic" to="/ov_msckf/loop_extrinsic"/>
<remap from="/vins_estimator/keyframe_point" to="/ov_msckf/loop_feats"/>
<remap from="/vins_estimator/keyframe_pose" to="/ov_msckf/odomimu"/>
<remap from="/vins_estimator/keyframe_pose" to="/ov_msckf/loop_pose"/>
<remap from="/vins_estimator/intrinsics" to="/ov_msckf/loop_intrinsics"/>
<!-- INPUT: current system pose and points -->
@@ -31,4 +31,4 @@
</launch>
</launch>