Running VINS-Mono with Realsense D435i from scratch

1. Install and check librealsense SDK 2.0
2. Install and check realsense
3. Install and test VINS-Mono
4. Run VINS-Mono on D435i

The process of testing D435i this time went relatively smoothly, it only took an afternoon to complete, much better than the previous test of ZR300 and SR300, here is the whole process of running VINS-Mono with D435i (no technical content), firstly Under My Computer Configuration.

My Computer Configuration:

CPU: Intel® Core™ i5-4590 CPU @ 3.30GHz × 4
Memory: 11.7 GiB
Graphics card: GeForce GTX 750 Ti / PCIe / SSE2 . System Edition
: Ubuntu16.04 system kernel
: 4.15.0-47-generic (command: cat /proc/version) ROS version: Kinetic

Install and test librealsense SDK 2.0

The librealsense SDK is the equivalent of a controller camera. Driver is support for SR300 and ZR300 is librealsense SDK 1.0, while D435i is librealsense SDK 2.0. It seems impossible to install two SDKs on one computer at the same time, so be careful. There are two ways to install the SDK, one is to compile and install from the source code, the other is to install it directly from the command line. Before librealsense SDK 1.0, I used to compile and install from code source, which was very unlikely, so I tried to install from command line directly this time. Official Intel® RealSense™ SDK 2.0 installation guide, here I use it as a porter: