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 Installation.

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

  3. Run mynteye_wrapper_d and VINS-Fusion .


1. Install Ubuntu 64bit 16.04/18.04. ROS Kinetic/Melodic(If you have installed ROS, you can skip this part). ROS Installation 2. Install Ceres Installation

Install Ceres

cd ~
git clone
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

Build VINS-Fusion

Clone the repository and catkin_make:

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

(if you fail in this step, try to find another computer with clean system or reinstall Ubuntu and ROS)


1.Launch 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

2.Open another terminal and run vins-fusion

cd ~/catkin_ws
roslaunch vins mynteye-d-mono-imu.launch  # mono+imu fusion
# roslaunch vins mynteye-d-stereo.launch  # Stereo fusion / Stereo+imu fusion