vins feature_ track

feature_track

node

• The main thread ：
  • ros Initialize and set handle
  • Set up Logger The level of , Only levels greater than or equal to level Logging messages will be processed .
    • set_logger_level
  • Read parameters yaml：
    • vins File path vins_folder
    • Camera parameters ： topic、max_cnt、min_dist、height、width、freq、f_threshold、equalize、finsheye
    • imu: topic
  • Read parameters of each camera readIntrinsicParameter<