How to use in VINS-Fusion

If you wanna run VINS-Fusion with MYNT EYE camera, please follow the steps:

  1. Download MYNT-EYE-S-SDK and install mynt_eye_ros_wrapper.
  2. Follow the normal procedure to install VINS-Fusion.
  3. Run mynt_eye_ros_wrapper and VINS-Fusion.

Prerequisites

  1. Install Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic.(if already installed, please ignore). ROS Installation
  2. Install Ceres

Install MYNT-EYE-VINS-FUSION-Samples

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 VINS-FUSION with MYNT® EYE

  1. Launch mynteye node
cd (local path of MYNT-EYE-S-SDK)
source ./wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper mynteye.launch
  1. Open another terminal and run vins
cd ~/catkin_ws
roslaunch vins mynteye-s-mono-imu.launch  # mono+imu fusion
# roslaunch vins mynteye-s-stereo.launch  # Stereo fusion / Stereo+imu fusion
# roslaunch vins mynteye-avarta-mono-imu.launch  # mono+imu fusion with mynteye-avarta
# roslaunch vins mynteye-avarta-stereo.launch  # Stereo fusion / Stereo+imu fusion with mynteye-avarta