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 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

Install MYNT-EYE-VINS-Sample

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone -b mynteye
cd ..
source devel/setup.bash
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Run VINS-Mono with MYNT® EYE

  1. Launch mynteye node
cd (local path of MYNT-EYE-D-SDK)
source ./wrappers/ros/devel/setup.bash
roslaunch mynteye_wrapper_d vins_mono.launch
  1. Open another terminal and run vins
cd ~/catkin_ws
roslaunch vins_estimator mynteye_d.launch