编译安装vins-fusion

安装依赖

• ubuntu18.04

• ros melodic

• 安装编译eigen 3.3.7

• 安装编译Ceres Solver

  • 依赖

    # CMake 
    sudo apt-get install cmake 
    
    # google-glog + gflags 
    
    sudo apt-get install libgoogle-glog-dev libgflags-dev 
    # BLAS & LAPACK sudo apt-get install libatlas-base-dev 
    
    # Eigen3 
    sudo apt-get install libeigen3-dev
    
    # SuiteSparse and CXSparse (optional) 
    sudo apt-get install libsuitesparse-dev
    

  • 编译安装ceres-solver 2.0版本

    git clone https://ceres-solver.googlesource.com/ceres-solver
    tar zxf ceres-solver-2.0.0.tar.gz 
    mkdir ceres-bin 
    cd ceres-bin 
    cmake ../ceres-solver-2.0.0 
    make -j8
    sudo make install
    

编译vins-fusion

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