How to use in VINS-Fusion

If you wanna run VINS-Fusion with MYNT EYE camera, please follow the steps:

  1. Download MYNT-EYE-D-SDK and ROS Installation
  2. Follow the normal procedure to install VINS-Fusion 。
  3. 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