MYNT-EYE-VINS 环境搭建

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博客介绍了在Ubuntu 16.04系统下的安装与测试步骤。首先需安装CMake、google - glog + gflags等依赖项，接着编译安装Ceres库。然后安装MYNT - EYE - VINS - Sample，最后进行测试，运行VINS - Mono与MYNT EYE相机相关程序。

一、依赖项安装
首先检查下列依赖已经安装
1、 CMake安装：
sudo apt-get install cmake
2、 google-glog + gflags
sudo apt-get install libgoogle-glog-dev
3、 BLAS & LAPACK
sudo apt-get install libatlas-base-dev
4、 Eigen3
sudo apt-get install libeigen3-dev
5、 SuiteSparse and CXSparse (optional)
sudo apt-get install libsuitesparse-dev
主要缺的是ceres库,在ubuntu16.04下编译安装ceres库
打开终端 git clone https://github.com/ceres-solver/ceres-solver.git
编译ceres库：在终端打开进入ceres-solver
mkdir build
cd build
cmake ..
make
sudo make install

二、Install MYNT-EYE-VINS-Sample

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone -b sdk2 https://github.com/slightech/MYNT-EYE-VINS-Sample.git
cd ..
catkin_make
source devel/setup.bash
echo “source ~/catkin_ws/devel/setup.bash” >> ~/.bashrc
source ~/.bashrc
三、测试
Run VINS-Mono with MYNT EYE camera

cd ~/catkin_ws

roslaunch mynt_eye_ros_wrapper mynteye.launch

roslaunch vins_estimator mynteye.launch