How to use in VINS-Fusion¶
If you wanna run VINS-Fusion with MYNT EYE camera, please follow the steps:¶
- Download MYNT-EYE-S-SDK and install mynt_eye_ros_wrapper.
- Follow the normal procedure to install VINS-Fusion.
- Run mynt_eye_ros_wrapper and VINS-Fusion.
Prerequisites¶
- Install Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic.(if already installed, please ignore). ROS Installation
- 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¶
- Launch mynteye node
cd (local path of MYNT-EYE-S-SDK)
source ./wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper mynteye.launch
- 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