VINS-Fusion 如何整合

在 MYNT® EYE 上运行 VINS-Fusion,请依照这些步骤:

  1. 下载 MYNT-EYE-S-SDK 及安装 mynt_eye_ros_wrapper。
  2. 按照一般步骤安装 VINS-Fusion 。
  3. 运行 mynt_eye_ros_wrapper 和 VINS-Fusion 。

准备步骤

  1. 安装 Ubuntu 64位 16.04/18.04. ROS Kinetic/Melodic(如果已经安装ROS可以跳过). ROS安装步骤
  2. 安装 Ceres

安装 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

(如果安装失败,请尝试换一台系统干净的电脑或者重新安装系统与ROS)

在 MYNT® EYE 上运行 VINS-FUSION

1.运行mynteye节点

cd (local path of MYNT-EYE-S-SDK)
source ./wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper mynteye.launch

2.打开另一个命令行运行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