我直接搜索cmakelists就可以确定它有几个功能包,可以看出vins-fusion并不是一个功能包。是由几个功能包组成的,这也和它的目录相符,我在看别人使用vins的视频的时候再次印证了我的想法。
![](https://img-blog.csdnimg.cn/2021030521435748.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NpbmF0XzE2NjQzMjIz,size_16,color_FFFFFF,t_70)
https://gitee.com/Kai_Wong/VINS-Fusion?_from=gitee_search
![](https://img-blog.csdnimg.cn/20210328002750990.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NpbmF0XzE2NjQzMjIz,size_16,color_FFFFFF,t_70)
https://github.com/HKUST-Aerial-Robotics/VINS-Fusion
![](https://img-blog.csdnimg.cn/20210305214500269.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NpbmF0XzE2NjQzMjIz,size_16,color_FFFFFF,t_70)
https://zhuanlan.zhihu.com/p/48728586
![](https://img-blog.csdnimg.cn/20210305214313648.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NpbmF0XzE2NjQzMjIz,size_16,color_FFFFFF,t_70)
我们看下vins-mono
![](https://img-blog.csdnimg.cn/20210328003518709.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NpbmF0XzE2NjQzMjIz,size_16,color_FFFFFF,t_70)
和肖昆当时用vins-mono飞成的无人机定点用的launch文件内容,用到了vins-mono里面三个功能包。
![](https://img-blog.csdnimg.cn/20210328003826177.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NpbmF0XzE2NjQzMjIz,size_16,color_FFFFFF,t_70)
![](https://img-blog.csdnimg.cn/20210328003550427.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NpbmF0XzE2NjQzMjIz,size_16,color_FFFFFF,t_70)
下面这讲清楚了这两个功能包节点的关系,可能feature_track和vins_estimate就够了,pose_graph莫非是画图用的?
https://download.csdn.net/download/qq_33319641/10553664?utm_medium=distribute.pc_relevant_t0.none-task-download-2%7Edefault%7EOPENSEARCH%7Edefault-1.control&dist_request_id=1328740.16846.16168641135308867&depth_1-utm_source=distribute.pc_relevant_t0.none-task-download-2%7Edefault%7EOPENSEARCH%7Edefault-1.control
![](https://img-blog.csdnimg.cn/20210328010000769.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NpbmF0XzE2NjQzMjIz,size_16,color_FFFFFF,t_70)
![](https://img-blog.csdnimg.cn/2021032801004152.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NpbmF0XzE2NjQzMjIz,size_16,color_FFFFFF,t_70)
再看vins-mono的这个节点图也就看得懂了,其实非常简单,那些展开一大堆的其实是话题消息,节点只有三个!!!!!!!!!现在应该大体清楚自己要做无人机vins定点,要启动哪几个节点了对吧。
也就是三个功能包节点的关系爱我们一目了然
https://blog.csdn.net/moyu123456789/article/details/103843294
![](https://img-blog.csdnimg.cn/20210328010807207.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NpbmF0XzE2NjQzMjIz,size_16,color_FFFFFF,t_70)
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