ubuntu16.04 运行vins mono

#####仅作为笔记
环境：
ubuntu16.04

1. ros依赖

sudo apt-get install ros-kinetic-cv-bridge ros-kinetic-tf ros-kinetic-message-filters ros-kinetic-image-transport

2. opencv3.3.1

sudo apt-get install build-essential libgtk2.0-dev libvtk5-dev libjpeg-dev libtiff5-dev libjasper-dev libopenexr-dev libtbb-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev libpng-dev libdc1394-22-dev
tar -xzvf opencv-3.3.1.tar.gz
cd opencv-3.3.1
mkdir build && cd build
cmake .. && make -j4
sudo make install

3. eigen3.3.3

sudo apt-get install libeigen3-dev

4. ceres slover1.14

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
###下载对应版本的Ceres库：https://github.com/ceres-solver/ceres-solver.git   
tar zxf ceres-solver-1.14.0.tar.gz
cd ceres-solver-1.14.0
mkdir build
cd build
cmake ..
make -j4
sudo make install

5. vins mono

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

6. 测试

#数据集下载：http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets
#http://robotics.ethz.ch/~asl-datasets/maplab/multi_session_mapping_CLA/bags/
roslaunch vins_estimator euroc.launch             ##启动launch文件
roslaunch vins_estimator vins_rviz.launch         ##可视化rviz
rosbag play YOUR_PATH_TO_DATASET/MH_01_easy.bag   ##播放数据集
roslaunch benchmark_publisher publish.launch  sequence_name:=MH_05_difficult  ##轨迹与groundtruth对比

7. 测试结果