How To Use In VINS-Fusion¶
If you wanna run VINS-Fusion with MYNT EYE camera, please follow the steps:¶
Download MYNT-EYE-S-SDK and install mynt_eye_ros_wrapper.
Follow the normal procedure to install VINS-Fusion.
Run mynt_eye_ros_wrapper 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
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
Then 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.
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 MYNT-EYE-VINS-FUSION-Samples¶
git clone https://github.com/slightech/MYNT-EYE-VINS-FUSION-Samples.git
cd MYNT-EYE-VINS-FUSION-Samples/docker
make build
Note that the docker building process may take a while depends on your network and machine. After VINS-Mono successfully started, open another terminal and play your bag file, then you should be able to see the result. If you need modify the code, simply run ./run.sh LAUNCH_FILE_NAME
after your changes.
Run VINS-FUSION with MYNT® EYE¶
Launch mynteye node
cd (local path of MYNT-EYE-S-SDK)
source ./wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper vins_fusion.launch
Open another terminal and run vins
cd path/to/MYNT-EYE-VINS-FUSION-Samples/docker
./run.sh mynteye-s/mynt_stereo_imu_config.yaml # Stereo fusion
# ./run.sh mynteye-s2100/mynt_stereo_config.yaml # Stereo fusion with mynteye-s2100
# ./run.sh mynteye-s2100/mynt_stereo_imu_config.yaml # Stereo+imu fusion with mynteye-s2100