Ubuntu16.04安装VINS-MONO及VINS-Fusion

另开一台虚拟机安装VINS

安ROS-Kinetic

wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_kinetic.sh
chmod 755 ./install_ros_kinetic.sh
bash ./install_ros_kinetic.sh

安opencv

安装版本号：3.3.1

安装依赖项：

sudo apt-get install update
sudo apt-get install cmake
sudo apt-get install build-essential libgtk2.0-dev libvtk5-dev libjpeg-dev libtiff4-dev libjasper-dev libopenexr-dev libtbb-dev

若安装过程中报错,提示安装libtiff5-dev，按照提示安装libtiff5-dev即可。如果报错则去官网：Index of /libtiff/下载tiff-4.0.10.tar.gz压缩包进行安装

./configure
make
make install

安Eigen3

安装版本：3.3.3 下载地址：Releases · libeigen / eigen · GitLab

解压后进入文件夹编译安装

mkdir build
cd build
cmake ..
sudo make 
sudo make install

 复制Eigen库到/usr/local/include中

sudo cp -r /usr/local/include/eigen3/Eigen /usr/local/include

安装Cere1.14

下载链接：https://github.com/ceres-solve/ceres-solver/tree/master 

安装依赖

$sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1.4 libgflags-dev libgoogle-glog-dev libgtest-dev

sudo apt-get install cmake

sudo apt-get install libgoogle-glog-dev

sudo apt-get install libatlas-base-dev

 进入安装包编译安装

mkdir build
cd build
cmake ..
sudo make 
sudo make install

创建ROS工作空间 

mkdir -p ~/vmono/src
cd ~vmono/src
catkin_init_workspace

编译vins

cd ~/vmono/src

git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git

cd ../

catkin_make

 安装VINS-Fusion

在vins-mono的基础上直接再创建一个ROS空间安VINS-Fusion即可

mkdir -p ~/vfusion/src
cd ~vfusion/src
catkin_init_workspace

 下载安装包，编译vins-fusion

cd ~/vfusion/src

git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git

cd ../

catkin_make

 *所遇问题及解决办法*

1、报错 c++: internal compiler error : killed   原因：swap空间不足，需要好几个G，增加虚拟内存

2、运行EuRoc数据时报磁盘空间小于一个G：阔内存，参考：

ubuntu 16.04根目录磁盘空间扩容（亲测！！）_fire_lgh的博客-CSDN博客_ubuntu扩容