Ubuntu18.04安装编译PL-VINS

1.https://github.com/cnqiangfu/PL-VINS官网

2.前提条件：ubuntu18.04和ROS Melodic
  依赖项：Eigen 3.3.4 + OpenCV 3.2+ Cere-solver
  Ceres安装可参考：https://blog.csdn.net/qq_42257666/article/details/124600564

3.安装：
1. mkdir -p ~/catkin_plvins/src    
2. cd ~/catkin_plvins/
3. catkin_make
4. source devel/setup.bash
5. echo $ROS_PACKAGE_PATH
6. git clone https://github.com/cnqiangfu/PL-VINS.git
注：克隆完成后需要进入/PL-VINS/feature_tracker/CMakeLists.txt中修改如下三处路径

且需要将将opencv安装目录中的OpenCVConfig.cmake文件中如下一行
set(OpenCV_INCLUDE_DIRS "${OpenCV_INSTALL_PATH}/include" "${OpenCV_INSTALL_PATH}/include/opencv")
修改为set(OpenCV_INCLUDE_DIRS "${OpenCV_INSTALL_PATH}")

4.编译
1. catkin_make
2. source devel/setup.bash

5.编译成功后即可前往http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets自行下载数据集测试（我所用的是MH_05_difficult.bag）
5.1下载数据集后在catkin_plvins中打开终端一运行如下命令
1. source devel/setup.bash
2. roslaunch plvins_estimator plvins_show_linepoint.launch
注：需要将src/PL-VINSvins_estimator/launch/下的plvins-show-linepoint.launch改为plvins_show_linepoint.launch（注意是下划线）文件名
5.2在catkin_plvins中打开终端二输入：
1. source devel/setup.bash
2. rosbag play /home/zz/catkin_plvins/MH_05_difficult.bag
运行成功