VINS Fusion

Installation

sudo apt-get install cmake
sudo apt-get install libgoogle-glog-dev
sudo apt-get install libatlas-base-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libsuitesparse-dev

tar zxf ceres-solver-1.14.0.tar.gz
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver-1.14.0
make -j3
make test
make install

Issue with Ceres-2.0.0 version: Eigen member error.

Compile VINS-Fusion

cd PATH_TO_WS/src
git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git
cd ..
catkin_make
source devel/setup.bash

Run

Run on EuRoC datasets:

roscore

roslaunch vins vins_rviz.launch

rosrun vins vins_node src/VINS-Fusion/config/euroc/euroc_mono_imu_config.yaml

rosrun loop_fusion loop_fusion_node src/VINS-Fusion/config/euroc/euroc_mono_imu_config.yaml

rosbag play /media/tliu/WD_PassPort_1/slam_datasets/EuRoC/V1_01_easy.bag