Original source code is on VINS-RGBD.
Follow this manual.
Recording by RealSense D435i. Contain 9 bags in three different applicaions:
Note the rosbags are in compressed format. Use "rosbag decompress" to decompress.
Topics:
- depth topic: /camera/aligned_depth_to_color/image_raw
- color topic: /camera/color/image_raw
- imu topic: /camera/imu
The source code is released under GPLv3 license.