How to use in VINS-Fusion¶
If you wanna run VINS-Fusion with MYNT EYE camera, please follow the steps:¶
- Download MYNT-EYE-D-SDK and ROS Installation。
- Follow the normal procedure to install VINS-Fusion 。
- Run mynteye_wrapper_d and VINS-Fusion 。
Preparation¶
1. Install Ubuntu 64位 16.04/18.04. ROS Kinetic/Melodic(If you have installed ROS, you can skip this part). ROS Installation 2. Install Ceres Installation
Build VINS-Fusion¶
Clone the repository and catkin_make:
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)
在 MYNT® EYE 上运行 VINS-FUSION¶
1.Launch mynteye node
cd (local path of MYNT-EYE-D-SDK)
source ./wrappers/ros/devel/setup.bash
roslaunch mynteye_wrapper_d mynteye.launch
2.Open another terminal and run vins-fusion
cd ~/catkin_ws
roslaunch vins mynteye-d-mono-imu.launch # mono+imu fusion
# roslaunch vins mynteye-d-stereo.launch # Stereo fusion / Stereo+imu fusion