How to use in VINS-Fusion¶
If you wanna run VINS-Fusion with MYNT EYE camera, please follow the steps:¶
- Download MYNT-EYE-D-SDK and ROS Installation.
- Follow the normal procedure to install VINS-Fusion .
- Run mynteye_wrapper_d and VINS-Fusion .
Preparation¶
1. Install Ubuntu 64bit 16.04/18.04. ROS Kinetic/Melodic(If you have installed ROS, you can skip this part). ROS Installation 2. Install Ceres Installation
Install Ceres¶
cd ~
git clone https://ceres-solver.googlesource.com/ceres-solver
sudo apt-get -y install cmake libgoogle-glog-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
sudo apt-get update && sudo apt-get install libsuitesparse-dev
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver
make -j3
sudo make install
Build VINS-Fusion¶
Clone the repository and catkin_make:
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone -b mynteye https://github.com/slightech/MYNT-EYE-VINS-FUSION-Samples.git
cd ..
catkin_make
source ~/catkin_ws/devel/setup.bash
(if you fail in this step, try to find another computer with clean system or reinstall Ubuntu and ROS)
Run MYNTEYE VINS-Fusion¶
1.Launch mynteye node
cd MYNT-EYE-D-SDK (local path of MYNT-EYE-D-SDK)
source ./wrappers/ros/devel/setup.bash
roslaunch mynteye_wrapper_d vins_fusion.launch
2.Open another terminal and run vins-fusion
cd ~/catkin_ws
roslaunch vins mynteye-d-mono-imu.launch # mono+imu fusion
# roslaunch vins mynteye-d-stereo.launch # Stereo fusion / Stereo+imu fusion