This project forked from shelfcol/kontiki_tutorial
kontiki learning
这个项目是从浙大的Lidar_IMU_Calib上借鉴而来，仅用于学习kontiki的用法
内容包含:kontiki使用IMU数据拟合位置和姿态, Pangolin画图, yaml使用
Pangolinan安装:
third_party文件夹下
mkdir build-pangolin
cd build-pangolin
cmake ../Pangolin/
make -j8
运行IMU轨迹优化并可视化
rosrun kontiki_tutorial kontiki_tutorial_node
pangolin轨迹可视化单独轨迹,只需要修改vis_config.yaml里面的文件地址即可,支持TUM和KITTI数据格式
rosrun kontiki_tutorial plotKittiTrajectory
若换了数据, 需要更改config.yaml里面的imu的话题名和文件位置
这里提供了一份含有IMU的数据,在data下面,使用的时候解压即可
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