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

Install Ceres

cd ~
git clone https://ceres-solver.googlesource.com/ceres-solver
sudo apt-get -y install cmake libgoogle-glog-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
sudo apt-get update && sudo apt-get install libsuitesparse-dev
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver
make -j3
sudo make install

Install MYNT-EYE-VINS-Sample

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone 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

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