VINS-Fusion 在Jetson Xavier中运行

Open Fan

sudo gedit /sys/devices/pwm-fan/target_pwm
150

Eigen

sudo apt-get remove libeigen3-dev 
cd ~/Downloads/
wget -O eigen.zip https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.zip #check version
unzip eigen.zip
mkdir eigen-build && cd eigen-build
cmake ../eigen-3.3.7/ && sudo make install
pkg-config --modversion eigen3 # Check Eigen Version

Ceres solver

sudo apt-get install -y cmake libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev
wget http://ceres-solver.org/ceres-solver-1.14.0.tar.gz
tar zxf ceres-solver-1.14.0.tar.gz
cd ceres-solver-1.14.0
mkdir build && cd build
cmake -DEXPORT_BUILD_DIR=ON \
      -DCMAKE_INSTALL_PREFIX=/usr/local \
      ../
make -j $(nproc) # number of cores
make test -j $(nproc)
sudo make install -j $(nproc)

OpenCV

install opencv in /usr/local

git clone https://github.com/jetsonhacks/buildOpenCVXavier.git
cd buildOpenCVXavier
./buildOpenCV.sh -i

ROS-melodic

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install ros-melodic-desktop-full
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt install python-rosdep
sudo rosdep init
rosdep update

CV-Bridge

cd ~/catkin_ws/src && git clone https://github.com/ros-perception/vision_opencv
gedit vision_opencv/cv_bridge/CMakeLists.txt

# Edit OpenCV PATHS in CMakeLists and include cmake file

find_package(OpenCV 3 REQUIRED PATHS /usr/local/share/OpenCV NO_DEFAULT_PATH
  COMPONENTS
    opencv_core
    opencv_imgproc
    opencv_imgcodecs
  CONFIG
)
include(/usr/local/share/OpenCV/OpenCVConfig.cmake) #under catkin_python_setup()

# Save and close CMakeLists
#  Build the package

$ cd .. && catkin_make

Vins-Fusion GPU

cd ~/catkin_ws/src && git clone https://github.com/pjrambo/VINS-Fusion-gpu #GPU

# Edit CMakeLists.txt for loop_fusion and vins_estimator
cd ~/catkin_ws/src/VINS-Fusion-gpu/loop_fusion && gedit CMakeLists.txt

##For loop_fusion : line 19
#find_package(OpenCV)
include(/usr/local/share/OpenCV/OpenCVConfig.cmake)

cd ~/catkin_ws/src/VINS-Fusion-gpu/vins_estimator && gedit CMakeLists.txt

##For vins_estimator : line 20
#find_package(OpenCV REQUIRED)
include(/usr/local/share/OpenCV/OpenCVConfig.cmake)

cd ~/catkin_ws/
catkin_make

启动

roslaunch vins vins_rviz.launch
rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion-gpu/config/vi_car/vi_car.yaml 
rosrun loop_fusion loop_fusion_node ~/catkin_ws/src/VINS-Fusion-gpu/config/vi_car/vi_car.yaml 
rosbag play YOUR_DATASET_FOLDER/car.bag