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.
Install ROS Kinetic conveniently (if already installed, please ignore)¶
cd ~
wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \
chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic
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
Install MYNT-EYE-VINS-FUSION-Samples¶
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone 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 vins_fusion.launch
- Open another terminal and run vins
cd ~/catkin_ws/src
source ./devel/setup.bash
roslaunch vins mynteye-s-stereo.launch # Stereo fusion / Stereo+imu fusion
# roslaunch vins mynteye-s-mono-imu.launch # mono+imu fusion
# roslaunch vins mynteye-s2100-mono-imu.launch # mono+imu fusion with mynteye-s2100
# roslaunch vins mynteye-s2100-stereo.launch # Stereo fusion / Stereo+imu fusion with mynteye-s2100