How To Use In VINS-Mono

If you wanna run VINS-Mono 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-Mono.

  3. Run mynt_eye_ros_wrapper and VINS-Mono.

Install ROS Kinetic conveniently (if already installed, please ignore)

cd ~
wget && \
chmod 755 ./ && bash ./ catkin_ws kinetic

Install Docker

sudo apt-get update
sudo apt-get install \
    apt-transport-https \
    ca-certificates \
    curl \
    gnupg-agent \
curl -fsSL | sudo apt-key add -
sudo add-apt-repository \
   "deb [arch=amd64] \
   $(lsb_release -cs) \
sudo apt-get update
sudo apt-get install docker-ce docker-ce-cli

Then add your account to docker group by sudo usermod -aG docker $YOUR_USER_NAME . Relaunch the terminal or logout and re-login if you get Permission denied error.

To complie with docker,we recommend that you should use more than 16G RAM, or ensure that the RAM and virtual memory space is greater than 16G.

Install MYNT-EYE-VINS-Sample

git clone -b docker_feat
cd MYNT-EYE-VINS-Sample/docker
make build

Note that the docker building process may take a while depends on your network and machine. After VINS-Mono successfully started, open another terminal and play your bag file, then you should be able to see the result. If you need modify the code, simply run ./ LAUNCH_FILE_NAME after your changes.

Run VINS-Mono 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 vins_mono.launch
  1. Open another terminal and run vins

cd path/to/MYNT-EYE-VINS-Sample/docker
./ mynteye_s.launch
# ./ mynteye_s2100.launch  # mono with s2100