参考代码：https://github.com/Ultramarine1939-syujie/VINS-Mono

安装ceres-solver1.14.0

1、安装依赖

sudo apt install libgoogle-glog-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev liblapack-dev libcxsparse3 libgflags-dev libgtest-dev

2、下载ceres并解压 / 解压3rd_party.zip压缩包

#在压缩包在的目录下打开终端，输入如下命令解压
tar zxf ceres-solver-1.14.0.tar.gz

3、在解压后的同级目录下，编译安装

mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver-1.14.0
make -j8
sudo make install

安装glog

  • 解压3rd_party.zip压缩包
  • 进入glog文件夹打开终端
  • ./autogen.sh && ./configure && make && sudo make install
  • sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1.2 libgflags-dev libgoogle-glog-dev libgtest-dev

VINS-Mono代码修改

1.camera_model/include/camodocal/calib/CameraCalibration.h

//add
#include <opencv2/imgproc/types_c.h>
#include <opencv2/imgproc/imgproc_c.h>

2.camera_model/include/camodocal/chessboard/Chessboard.h

//add
#include <opencv2/imgproc/types_c.h>
#include <opencv2/calib3d/calib3d_c.h>

3.pose_graph/src/keyframe.h

//add
#include <opencv2/highgui.hpp>
#include <opencv2/cvconfig.h>

4.pose_graph/src/pose_graph.h

//add
#include <opencv2/highgui.hpp>
#include <opencv2/cvconfig.h>

5.pose_graph/src/ThirdParty/DVision/BRIEF.h

//add
#include <opencv2/highgui.hpp>
#include <opencv2/cvconfig.h>
#include <opencv2/imgproc/types_c.h>
#include <opencv2/imgproc/imgproc_c.h>

运行VINS-Mono

在catkin_ws目录下开三个命令行终端窗口

#第一个窗口
source devel/setup.bash
roslaunch vins_estimator euroc.launch 
#第二个窗口
source devel/setup.bash
roslaunch vins_estimator vins_rviz.launch
#第三个窗口
source devel/setup.bash
rosbag play MH_01_easy.bag