vins安装及小觅深度版运行

本小白在对VINS进行实践的过程中，走了许多的弯路，现在将全部过程都记下来，希望能对大家有所帮助

VINS安装

vins源代码地址

ros

ros-csdn

1. sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
2. sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
3. sudo apt-get update
4. sudo apt-get install ros-kinetic-desktop-full
5. apt-cache search ros-kinetic
6. sudo rosdep init
7. rosdep update
8. echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
9. source ~/.bashrc
10. sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
11. 测试
    roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key
rosrun rqt_graph rqt_graph

ceres

ceres

1. mkdir ceres
cd ceres
2. git clone https://github.com/ceres-solver/ceres-solver.git
3. sudo apt-get install cmake
sudo apt-get install libgoogle-glog-dev
sudo apt-get install libatlas-base-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libsuitesparse-dev
4. mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver
make -j12
make test
sudo make install

Build VINS-Mono on ROS

1. mkdir catkin_ws
cd catkin_ws
mkdir src
cd src
2. git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git
3. cd ..
catkin_make
4. source /home/fxf/catkin_ws/devel/setup.bash

Visual-Inertial Odometry and Pose Graph Reuse on Public datasets

1. MH数据集
2. 每次roslaunch前添加source ros工程下绝对路径/setup.bash，例如：
   source /home/fxf/work/catkin-ws/devel/setup.bash
roslaunch /home/fxf/work/VINS-Mono/vins_estimator/launch/euroc.launch
3. source /home/fxf/work/catkin-ws/devel/setup.bash
roslaunch /home/fxf/work/VINS-Mono/vins_estimator/launch/vins_rviz.launch
4. rosbag play 绝对路径/MH_01_easy.bag
5. 其他的bag、ar等可参考github上的源文件的readme

小觅深度版SDK

安装OpenCV

sudo apt-get install libopencv-dev

安装点云例程依赖的PCL库

sudo apt-get install libpcl-dev libproj-dev libopenni2-dev libopenni-dev

SDK

1. git clone https://github.com/slightech/MYNT-EYE-D-SDK.git
2. cd MYNT-EYE-D-SDK
make init
make all
3. 左右目的图像和彩色深度图
   ./samples/_output/bin/get_image
   左目的图像，16UC1的深度图和鼠标选中的像素的深度值(mm)
   ./samples/_output/bin/get_depth
   显示左目的图像，16UC1的深度图和点云
   ./samples/_output/bin/get_points
   get_imu 打印 imu 数据
   ./samples/_output/bin/get_imu
   get_img_params 打印相机参数并保存在文件中
   ./samples/_output/bin/get_img_params
   get_imu_params 打印 imu 参数并保存在文件中
   ./samples/_output/bin/get_imu_params
   get_from_callbacks 使用回调方式获取图像和 imu 数据
   ./samples/_output/bin/get_from_callbacks
   get_all_with_options 使用不同参数打开设备
   ./samples/_output/bin/get_all_with_options

SDK编译到ROS

1. cd /home/fxf/catkin_ws/src
git clone https://github.com/slightech/MYNT-EYE-D-SDK.git
cd MYNT-EYE-D-SDK
make ros
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
2. cd /home/fxf/catkin_ws/src
git clone https://github.com/slightech/MYNT-EYE-VINS-Sample.git
cd ..
catkin_make
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

更新配置文件

运行

1. 启动相机
   source ~/catkin_ws/src/MYNT-EYE-D-SDK/wrappers/ros/devel/setup.bash
roslaunch /home/fxf/catkin_ws/src/MYNT-EYE-D-SDK/wrappers/ros/src/mynteye_wrapper_d/launch/mynteye.launch
2. 运行VINS
   source ~/catkin_ws/devel/setup.bash
roslaunch /home/fxf/catkin_ws/src/MYNT-EYE-VINS-Sample/vins_estimator/launch/mynteye_d.launch
   如果发现有same name报错，就把src文件夹下的VINS-Mono文件夹删除

未完待续。。。