Install VINSMONO - Dieptranivsr/DroneIVSR GitHub Wiki

NOTE: yet install OpenCV & only install ros-melodic-full-desktop

Step 1: Install ROS and prerequisites

# For ROS noetic (Ubuntu 20):
$ sudo apt-get install ros-noetic-cv-bridge ros-noetic-tf ros-noetic-message-filters ros-noetic-image-transport

# For ROS melodic (Ubuntu 18):
$ sudo apt-get install ros-melodic-cv-bridge ros-melodic-tf ros-melodic-message-filters ros-melodic-image-transport

Step 2: Install Ceres Solver:

# Install presequisites:
$ sudo apt-get install cmake
$ sudo apt-get install libgoogle-glog-dev libgflags-dev
$ sudo apt-get install libatlas-base-dev
$ sudo apt-get install libeigen3-dev
$ sudo apt-get install libsuitesparse-dev

# Install Ceres Solver:
$ cd ~
$ mkdir ceres
$ cd ceres

# download Ceres Solver stable version (http://ceres-solver.org/installation.html)
$ tar zxf ceres-solver-2.0.0.tar.gz
$ mkdir ceres-bin
$ cd ceres-bin
$ cmake ../ceres-solver-2.0.0
$ make -j3
$ make test
$ sudo make install

Step 3: Install VINSMONO

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

Step 4: Test VINSMONO

https://github.com/HKUST-Aerial-Robotics/VINS-Mono part 3