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diff --git a/LICENCE b/LICENCE
diff --git a/README.md b/README.md
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+## 代码结构
+
+- camera_model：相机模型定义文件
+- config：参数文件
+- feature_tracker：前端特征处理器文件
+- pose_graph：回环检测模块文件
+- vins_estimator：后端位姿估计器文件
+
+## 使用
+
+- 首先将所有文件放入工作空间src中，编译并source，可以参照plvins.md安装依赖库
+- 根据需要，修改launch文件读取的参数文件及参数文件内容（默认处理EuRoc数据集）
+- 启动点线特征处理器
+  - ```Go
+    roslaunch feature_tracker feature_tracker.launch # 分别启动点线特征处理器
+    roslaunch feature_tracker plfeature_tracker.launch # 启动点线联合特征处理器，适用于sp-sold2网络
+    ```
+- 启动后端位姿估计和轨迹重建
+  - ```Go
+    roslaunch plvins_estimator estimator.launch #运行后轨迹文件会保存到指定路径下 
+    ```
+
+对于不同的数据集，需要参照config中的文件调整参数，并在launch中指明
+
+## 自定义前端
+
+自定义前端包括点/线的提取、匹配方法，按照以下几个步骤进行自定义：
+
+- 参照 feature_tracker/scripts/utils_point/superpoint/model.py 和 feature_tracker/scripts/utils_line/sold2/model.py，继承BaseExtractModel（含有extract方法）和BaseMatchModel（含有match方法），自定义提取或匹配方法
+- 按照格式将继承类写入 feature_tracker/scripts/utils_point/my_point_model.py 和 feature_tracker/scripts/utils_line/my_line_model.py 的实例化函数中
+- 根据自己定义的方法名和参数名，写入config中
+- 此时程序将根据名字找到自定义方法，利用参数实例化并执行自定义前端特征处理器
+- 预定义的前端方法包括：点提取（superpoint），点匹配（nnm, superglue）；线提取（sold2），线匹配（wunsch），以及点线联合推理的方法（sp-sold2）
diff --git a/Trajactory/.gitignore b/Trajactory/.gitignore
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+Euroc*/
diff --git a/Trajactory/TUM_corr1/evo_loop_1726564121266.csv b/Trajactory/TUM_corr1/evo_loop_1726564121266.csv
diff --git a/Trajactory/TUM_corr1/evo_no_loop_1726564121246.txt b/Trajactory/TUM_corr1/evo_no_loop_1726564121246.txt
diff --git a/Trajactory/TUM_corr1/loop_1726564121266.csv b/Trajactory/TUM_corr1/loop_1726564121266.csv
diff --git a/Trajactory/TUM_corr1/no_loop_1726564121246.txt b/Trajactory/TUM_corr1/no_loop_1726564121246.txt
diff --git a/Trajactory/TUM_corr2/evo_loop_1726564759867.csv b/Trajactory/TUM_corr2/evo_loop_1726564759867.csv
diff --git a/Trajactory/TUM_corr2/evo_no_loop_1726564759847.txt b/Trajactory/TUM_corr2/evo_no_loop_1726564759847.txt
diff --git a/Trajactory/TUM_corr2/loop_1726564759867.csv b/Trajactory/TUM_corr2/loop_1726564759867.csv
diff --git a/Trajactory/TUM_corr2/no_loop_1726564759847.txt b/Trajactory/TUM_corr2/no_loop_1726564759847.txt
diff --git a/Trajactory/TUM_corr3/evo_loop_1726579470158.csv b/Trajactory/TUM_corr3/evo_loop_1726579470158.csv
diff --git a/Trajactory/TUM_corr3/evo_no_loop_1726579470138.txt b/Trajactory/TUM_corr3/evo_no_loop_1726579470138.txt
diff --git a/Trajactory/TUM_corr3/loop_1726579470158.csv b/Trajactory/TUM_corr3/loop_1726579470158.csv
diff --git a/Trajactory/TUM_corr3/no_loop_1726579470138.txt b/Trajactory/TUM_corr3/no_loop_1726579470138.txt
diff --git a/Trajactory/TUM_mag1/evo_loop_1726581512519.csv b/Trajactory/TUM_mag1/evo_loop_1726581512519.csv
diff --git a/Trajactory/TUM_mag1/evo_no_loop_1726581512498.txt b/Trajactory/TUM_mag1/evo_no_loop_1726581512498.txt
diff --git a/Trajactory/TUM_mag1/loop_1726581512519.csv b/Trajactory/TUM_mag1/loop_1726581512519.csv
diff --git a/Trajactory/TUM_mag1/no_loop_1726581512498.txt b/Trajactory/TUM_mag1/no_loop_1726581512498.txt
diff --git a/Trajactory/TUM_mag2/evo_loop_1726583120266.csv b/Trajactory/TUM_mag2/evo_loop_1726583120266.csv
diff --git a/Trajactory/TUM_mag2/evo_no_loop_1726583120245.txt b/Trajactory/TUM_mag2/evo_no_loop_1726583120245.txt
diff --git a/Trajactory/TUM_mag2/loop_1726583120266.csv b/Trajactory/TUM_mag2/loop_1726583120266.csv
diff --git a/Trajactory/TUM_mag2/no_loop_1726583120245.txt b/Trajactory/TUM_mag2/no_loop_1726583120245.txt
diff --git a/Trajactory/TUM_mag3/evo_loop_1726584522105.csv b/Trajactory/TUM_mag3/evo_loop_1726584522105.csv
diff --git a/Trajactory/TUM_mag3/evo_no_loop_1726584522085.txt b/Trajactory/TUM_mag3/evo_no_loop_1726584522085.txt
diff --git a/Trajactory/TUM_mag3/loop_1726584522105.csv b/Trajactory/TUM_mag3/loop_1726584522105.csv
diff --git a/Trajactory/TUM_mag3/no_loop_1726584522085.txt b/Trajactory/TUM_mag3/no_loop_1726584522085.txt
diff --git a/Trajactory/TUM_out1/evo_loop_1726585905669.csv b/Trajactory/TUM_out1/evo_loop_1726585905669.csv
diff --git a/Trajactory/TUM_out1/evo_no_loop_1726585905648.txt b/Trajactory/TUM_out1/evo_no_loop_1726585905648.txt
diff --git a/Trajactory/TUM_out1/loop_1726585905669.csv b/Trajactory/TUM_out1/loop_1726585905669.csv
diff --git a/Trajactory/TUM_out1/no_loop_1726585905648.txt b/Trajactory/TUM_out1/no_loop_1726585905648.txt
diff --git a/Trajactory/TUM_out2/evo_no_loop_1726589606080.txt b/Trajactory/TUM_out2/evo_no_loop_1726589606080.txt
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+1520429892.700249672 0.18964 -0.01935 0.00277 0.00203 -0.08564 -0.74463 0.66196
diff --git a/Trajactory/TUM_out2/no_loop_1726589606080.txt b/Trajactory/TUM_out2/no_loop_1726589606080.txt
@@ -0,0 +1 @@
+1520429892700249600 0.18964 -0.01935 0.00277 0.66196 0.00203 -0.08564 -0.74463
diff --git a/Trajactory/TUM_out3/evo_loop_1726591305117.csv b/Trajactory/TUM_out3/evo_loop_1726591305117.csv
diff --git a/Trajactory/TUM_out3/evo_no_loop_1726591305098.txt b/Trajactory/TUM_out3/evo_no_loop_1726591305098.txt
diff --git a/Trajactory/TUM_out3/loop_1726591305117.csv b/Trajactory/TUM_out3/loop_1726591305117.csv
diff --git a/Trajactory/TUM_out3/no_loop_1726591305098.txt b/Trajactory/TUM_out3/no_loop_1726591305098.txt
diff --git a/Trajactory/TUM_room1/evo_loop_1726625166095.csv b/Trajactory/TUM_room1/evo_loop_1726625166095.csv
diff --git a/Trajactory/TUM_room1/evo_no_loop_1726625166074.txt b/Trajactory/TUM_room1/evo_no_loop_1726625166074.txt
diff --git a/Trajactory/TUM_room1/loop_1726625166095.csv b/Trajactory/TUM_room1/loop_1726625166095.csv
diff --git a/Trajactory/TUM_room1/no_loop_1726625166074.txt b/Trajactory/TUM_room1/no_loop_1726625166074.txt
diff --git a/Trajactory/TUM_room2/evo_loop_1726625987218.csv b/Trajactory/TUM_room2/evo_loop_1726625987218.csv
diff --git a/Trajactory/TUM_room2/evo_no_loop_1726625987197.txt b/Trajactory/TUM_room2/evo_no_loop_1726625987197.txt
diff --git a/Trajactory/TUM_room2/loop_1726625987218.csv b/Trajactory/TUM_room2/loop_1726625987218.csv
diff --git a/Trajactory/TUM_room2/no_loop_1726625987197.txt b/Trajactory/TUM_room2/no_loop_1726625987197.txt
diff --git a/Trajactory/TUM_room3/evo_loop_1726626672305.csv b/Trajactory/TUM_room3/evo_loop_1726626672305.csv
diff --git a/Trajactory/TUM_room3/evo_no_loop_1726626672285.txt b/Trajactory/TUM_room3/evo_no_loop_1726626672285.txt
diff --git a/Trajactory/TUM_room3/loop_1726626672305.csv b/Trajactory/TUM_room3/loop_1726626672305.csv
diff --git a/Trajactory/TUM_room3/no_loop_1726626672285.txt b/Trajactory/TUM_room3/no_loop_1726626672285.txt
diff --git a/Trajactory/TUM_slid1/evo_loop_1726628465232.csv b/Trajactory/TUM_slid1/evo_loop_1726628465232.csv
diff --git a/Trajactory/TUM_slid1/evo_no_loop_1726628465212.txt b/Trajactory/TUM_slid1/evo_no_loop_1726628465212.txt
diff --git a/Trajactory/TUM_slid1/loop_1726628465232.csv b/Trajactory/TUM_slid1/loop_1726628465232.csv
diff --git a/Trajactory/TUM_slid1/no_loop_1726628465212.txt b/Trajactory/TUM_slid1/no_loop_1726628465212.txt
diff --git a/Trajactory/TUM_slid2/evo_loop_1726629709161.csv b/Trajactory/TUM_slid2/evo_loop_1726629709161.csv
diff --git a/Trajactory/TUM_slid2/evo_no_loop_1726629709141.txt b/Trajactory/TUM_slid2/evo_no_loop_1726629709141.txt
diff --git a/Trajactory/TUM_slid2/loop_1726629709161.csv b/Trajactory/TUM_slid2/loop_1726629709161.csv
diff --git a/Trajactory/TUM_slid2/no_loop_1726629709141.txt b/Trajactory/TUM_slid2/no_loop_1726629709141.txt
diff --git a/Trajactory/TUM_slid3/evo_loop_1726631240836.csv b/Trajactory/TUM_slid3/evo_loop_1726631240836.csv
diff --git a/Trajactory/TUM_slid3/evo_no_loop_1726631240816.txt b/Trajactory/TUM_slid3/evo_no_loop_1726631240816.txt
diff --git a/Trajactory/TUM_slid3/loop_1726631240836.csv b/Trajactory/TUM_slid3/loop_1726631240836.csv
diff --git a/Trajactory/TUM_slid3/no_loop_1726631240816.txt b/Trajactory/TUM_slid3/no_loop_1726631240816.txt
diff --git a/Trajactory/TrajVINS/MH_01_easy/data.csv b/Trajactory/TrajVINS/MH_01_easy/data.csv
diff --git a/Trajactory/TrajVINS/MH_01_easy/mh01_gt_tum.txt b/Trajactory/TrajVINS/MH_01_easy/mh01_gt_tum.txt
diff --git a/Trajactory/TrajVINS/MH_02_easy/data.csv b/Trajactory/TrajVINS/MH_02_easy/data.csv
diff --git a/Trajactory/TrajVINS/MH_02_easy/mh02_gt_tum.txt b/Trajactory/TrajVINS/MH_02_easy/mh02_gt_tum.txt
diff --git a/Trajactory/TrajVINS/MH_03_medium/data.csv b/Trajactory/TrajVINS/MH_03_medium/data.csv
diff --git a/Trajactory/TrajVINS/MH_03_medium/mh03_gt_tum.txt b/Trajactory/TrajVINS/MH_03_medium/mh03_gt_tum.txt
diff --git a/Trajactory/TrajVINS/MH_04_difficult/data.csv b/Trajactory/TrajVINS/MH_04_difficult/data.csv
diff --git a/Trajactory/TrajVINS/MH_04_difficult/mh04_gt_tum.txt b/Trajactory/TrajVINS/MH_04_difficult/mh04_gt_tum.txt
diff --git a/Trajactory/TrajVINS/MH_05_difficult/data.csv b/Trajactory/TrajVINS/MH_05_difficult/data.csv
diff --git a/Trajactory/TrajVINS/MH_05_difficult/mh05_gt_tum.txt b/Trajactory/TrajVINS/MH_05_difficult/mh05_gt_tum.txt
diff --git a/Trajactory/TrajVINS/V1_01_easy/data.csv b/Trajactory/TrajVINS/V1_01_easy/data.csv
diff --git a/Trajactory/TrajVINS/V1_01_easy/v101_gt_tum.txt b/Trajactory/TrajVINS/V1_01_easy/v101_gt_tum.txt
diff --git a/Trajactory/TrajVINS/V1_02_medium/data.csv b/Trajactory/TrajVINS/V1_02_medium/data.csv
diff --git a/Trajactory/TrajVINS/V1_02_medium/v102_gt_tum.txt b/Trajactory/TrajVINS/V1_02_medium/v102_gt_tum.txt
diff --git a/Trajactory/TrajVINS/V1_03_difficult/data.csv b/Trajactory/TrajVINS/V1_03_difficult/data.csv
diff --git a/Trajactory/TrajVINS/V1_03_difficult/v103_gt_tum.txt b/Trajactory/TrajVINS/V1_03_difficult/v103_gt_tum.txt
diff --git a/Trajactory/TrajVINS/V2_01_easy/data.csv b/Trajactory/TrajVINS/V2_01_easy/data.csv
diff --git a/Trajactory/TrajVINS/V2_01_easy/v201_gt_tum.txt b/Trajactory/TrajVINS/V2_01_easy/v201_gt_tum.txt
diff --git a/Trajactory/TrajVINS/V2_02_medium/data.csv b/Trajactory/TrajVINS/V2_02_medium/data.csv
diff --git a/Trajactory/TrajVINS/V2_02_medium/v202_gt_tum.txt b/Trajactory/TrajVINS/V2_02_medium/v202_gt_tum.txt
diff --git a/Trajactory/TrajVINS/V2_03_difficult/data.csv b/Trajactory/TrajVINS/V2_03_difficult/data.csv
diff --git a/Trajactory/TrajVINS/V2_03_difficult/v203_gt_tum.txt b/Trajactory/TrajVINS/V2_03_difficult/v203_gt_tum.txt
diff --git a/Trajactory/evo.ipynb b/Trajactory/evo.ipynb
diff --git a/Trajactory/vins_result_loop.csv b/Trajactory/vins_result_loop.csv
diff --git a/build/.cmake/api/v1/query/client-vscode/query.json b/build/.cmake/api/v1/query/client-vscode/query.json
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+{"requests":[{"kind":"cache","version":2},{"kind":"codemodel","version":2},{"kind":"toolchains","version":1},{"kind":"cmakeFiles","version":1}]}
diff --git a/build/CATKIN_IGNORE b/build/CATKIN_IGNORE
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		{"requests":[{"kind":"cache","version":2},{"kind":"codemodel","version":2},{"kind":"toolchains","version":1},{"kind":"cmakeFiles","version":1}]}