TX2运行VINS-MONO

简介

之前一篇博客：“ubuntu16.04运行VINS-MONO实验总结” 已经在笔记本中成功运行了VINS-MONO。然后想在TX2上运行看看。

1.ceres-solver安装

方法1：（ceres官网给的教程）

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
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
sudo apt-get update
sudo apt-get install libsuitesparse-dev

下载ceres安装包，并安装。 github地址

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

方法2:（按照视觉SLAM14讲高博给的方法）

sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1.2 libgflags-dev libgoogle-glog-dev

注意ubun16.04系统需要将libcxsparse3.1.2换成libcxsparse3.1.4

tar zxf ceres-solver-1.14.0.tar.gz 
mkdir build 
cd build
cmake ..
make -j3
sudo make install

编译过程出现错误，eigen需要大于3.3.4版本，之前笔记本安装的eigen版本是3.2.10也能够通过编译，于是在网上下载eigen安装包，我选择的版本是eigen 3.3.7，重新安装。

tar zxf eigen-3.3.7.tar.gz
mkdir build
cd build
cmake ..
sudo make install

Ceres库的头文件安装在"/usr/local/include/ceres/“目录下，库文件安装在”/usr/local/lib/“目录；eigen库的头文件安装在”/usr/local/include/eigen3/"目录下。

如下图所示，ceres似乎已经安装成功！！

2. 运行小觅摄像头

1）运行 mynteye 节点

cd [path of mynteye-s-sdk]
make ros
source ./wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper mynteye.launch

2）打开另一个命令行运行 VINS-MONO

cd ~/vins_mono_ws
source devel/setup.bash
roslaunch vins_estimator mynteye.launch

如下图所示，报错了！！！应该是调用ceres求解器不成功，系统初始化成功之后，轨迹一下子飘了。

问题解决思路：
1)卸载之前安装的ceres

sudo rm -rf /usr/local/include/ceres
sudo rm -rf /usr/local/lib/cmake/Ceres/
sudo rm -rf /usr/local/lib/libceres.a

2)卸御之后重新安装eigen（过程参考这篇文章“Ubuntu 16.04, 卸载&安装 Eigen”）

重新编译之后发现还是出现问题，如下图所示：
这是什么问题？？？用了catkin_make_isolated,编译能通过，不过在运行vins-mono的过程中还是和之前的问题一样，似乎无法调用ceres优化库。

-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 7 packages in topological order:
-- ~~  - ceres-solver (plain cmake)
-- ~~  - benchmark_publisher
-- ~~  - camera_model
-- ~~  - ar_demo
-- ~~  - feature_tracker
-- ~~  - pose_graph
-- ~~  - vins_estimator
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkin_workspace.cmake:95 (message):
  This workspace contains non-catkin packages in it, and catkin cannot build
  a non-homogeneous workspace without isolation.  Try the
  'catkin_make_isolated' command instead.
Call Stack (most recent call first):
  CMakeLists.txt:63 (catkin_workspace)


-- Configuring incomplete, errors occurred!
See also "/home/nvidia/vins-mono_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/nvidia/vins-mono_ws/build/CMakeFiles/CMakeError.log".
Makefile:1116: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1

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