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 Wrapper Installation .

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

  3. Run mynteye_wrapper_d and VINS-Fusion .

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

cd ~
wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \
chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic

Run VINS-FUSION with docker

Note

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 \
    software-properties-common
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
sudo add-apt-repository \
   "deb [arch=amd64] https://download.docker.com/linux/ubuntu \
   $(lsb_release -cs) \
   stable"
sudo apt-get update
sudo apt-get install docker-ce docker-ce-cli containerd.io

Tip

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-FUSION-Samples

git clone -b docker_feat https://github.com/slightech/MYNT-EYE-VINS-FUSION-Samples.git
cd MYNT-EYE-VINS-FUSION-Sample/docker
make build

Run VINS_FUSION

  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_fusion.launch stream_mode:=1 # stereo camera with 640x480
  1. Open another terminal to run vins-fusion

cd MYNT-EYE-VINS-FUSION-Sample/docker (local path of MYNT-EYE-VINS-FUSION-Sample)
./run.sh mynteye-d/mynt_mono_config.yaml  # mono+imu fusion
# ./run.sh mynteye-d/mynt_stereo_config.yaml  # Stereo fusion
# ./run.sh mynteye-d/mynt_stereo_imu_config.yaml # Stereo+imu fusion