.h
#pragma once#include#include #include struct IMU_MSG{EIGEN_MAKE_ALIGNED_OPERATOR_NEWdouble time;Eigen::Vector3d acc;Eigen::Vector3d gyr;IMU_MSG &operator =(const IMU_MSG &other){time = other.time;acc = other.acc;gyr = other.gyr;return *this;}};struct GPS_MSG{EIGEN_MAKE_ALIGNED_OPERATOR_NEWdouble time;Eigen::Vector3d position;double pos_accuracy;GPS_MSG &operator =(const GPS_MSG &other){time= other.time;position= other.position;pos_accuracy = other.pos_accuracy;return *this;}};double min(double x,double y,double z ){return x < y ? (x < z ? x : z) : (y < z ? y : z);}
.txt 中加如下两行
#######################-----自己加的程序-----#############################add_executable(change_data src/change_data.cpp)target_link_libraries(change_data vins_lib) add_executable(camera_IMU_GPS_test src/camera_IMU_GPS_test.cpp)target_link_libraries(camera_IMU_GPS_test vins_lib)

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