How To Use In VINS-Mono

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

  1. Download MYNT-EYE-D-SDK and ROS Wrapper Installation .

  2. Follow the normal procedure to install VINS-Mono.

  3. Run mynteye_wrapper_d and VINS-Mono.

Install ROS Kinetic conveniently (if already installed, please ignore)

cd ~
wget && \
chmod 755 ./ && bash ./ catkin_ws kinetic

Run VINS-Mono with docker


To complie with docker,we recommend that you should use more than 16G RAM, or ensure that the RAM and virtual memory space is greater than 16G.

Install docker

sudo apt-get update
sudo apt-get install \
    apt-transport-https \
    ca-certificates \
    curl \
    gnupg-agent \
curl -fsSL | sudo apt-key add -
sudo add-apt-repository \
   "deb [arch=amd64] \
   $(lsb_release -cs) \
sudo apt-get update
sudo apt-get install docker-ce docker-ce-cli


add your account to docker group by sudo usermod -aG docker $YOUR_USER_NAME . Relaunch the terminal or logout and re-login if you get Permission denied error.

Install MYNT-EYE-VINS-Samples

git clone -b docker_feat
cd MYNT-EYE-VINS-Sample/docker
make build


  1. Run mynteye node

cd MYNT-EYE-D-SDK (local path of MYNT-EYE-D-SDK)
source ./wrappers/ros/devel/setup.bash
roslaunch mynteye_wrapper_d vins_mono.launch stream_mode:=0
  1. Open another terminal to run vins-mono

cd MYNT-EYE-VINS-Sample/docker (local path of MYNT-EYE-VINS-Sample)
./ mynteye_d.launch