NX入门教程软件篇-安装VINS-Mono

说明

• 本教程介绍如何在Jetson Xavier NX 安装VINS-Mono

• 测试环境：Jetson Xavier NX + Jetpack4.4 + Ubuntu 1804 + ROS Melodic + opencv3.4.3

• NX 默认是4.1.1版本目前对于VINS-Mono支持还不完善，使用opencv3.4.3版本

安装步骤

• 安装opencv3.4.3，参考文章：NX入门教程软件篇-安装opencv3.4.3

• 安装ROS相关

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

• 安装ceres-solver的依赖

# CMake

$ sudo apt-get install cmake

# google-glog + gflags

$ sudo apt-get install libgoogle-glog-dev

# BLAS & LAPACK

$ sudo apt-get install libatlas-base-dev

# Eigen3

$ sudo apt-get install libeigen3-dev

# SuiteSparse and CXSparse (optional)
# - If you want to build Ceres as a *static* library (the default)
#   you can use the SuiteSparse package in the main Ubuntu package
#   repository:

$ sudo apt-get install libsuitesparse-dev

• 下载且编译ceres-solver

$ cd ~/tools/
$ git clone https://github.com/ceres-solver/ceres-solver.git
$ cd ceres-solver/
$ mkdir build
$ cd build
$ cmake ..
$ make -j1
$ sudo make install

• 下载cv_bridge包

$ cd ~/tools/
$ git clone -b melodic https://github.com/ros-perception/vision_opencv
$ cp -r vision_opencv/cv_bridge  ~/catkin_ws/src/

• 下载且编译VINS-Mono源码

$ cd ~/catkin_ws/src
$ git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git

• 指定使用opencv版本3.4.3
• 找到如下包的的CMakelist.txt文件

ar_demo
pose_graph  
vins_estimator
camera_model         
feature_tracker  

• 在find_package(OpenCV REQUIRED)行前面加上

set(OpenCV_DIR /home/ubuntu/opencv/build/)
find_package(OpenCV 3.4.3 REQUIRED)

• 编译：

$ cd ../
$ catkin_make -j1
$ source ~/catkin_ws/devel/setup.bash

• 如果编译出错，请参考FAQ

普通测试

• 下载测试的数据集，bag文件，zip文件
• 测试命令

$ roslaunch vins_estimator euroc.launch 
$ roslaunch vins_estimator vins_rviz.launch
$ rosbag play YOUR_PATH_TO_DATASET/MH_01_easy.bag 

• 如果需要跟实际轨迹同步显示

$ roslaunch vins_estimator euroc.launch 
$ roslaunch vins_estimator vins_rviz.launch
$ roslaunch benchmark_publisher publish.launch sequence_name:=MH_05_difficult
$ rosbag play YOUR_PATH_TO_DATASET/MH_01_easy.bag 

• 绿线是VINS的轨迹，红线是真实的轨迹

AR测试：

• 下载数据集，bag文件
• 测试命令

$ roslaunch ar_demo 3dm_bag.launch
$ roslaunch ar_demo ar_rviz.launch
$ rosbag play YOUR_PATH_TO_DATASET/ar_box.bag 

FAQ

• 源码安装vins-mono算法问题整理（ROS Melodic + opencv 4.1.1）

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参考链接

• https://github.com/HKUST-Aerial-Robotics/VINS-Mono
• http://ceres-solver.org/installation.html