https://docs.openvins.com

Install

mkdir -p ~/workspace/open_vins_ws/src

cd ~/workspace/open_vins_ws/src

git clone <https://github.com/rpng/open_vins.git>

cd ..

rosdep install -y --from-paths src --ignore-src

Install Ceres (used for solving linear equations)

Install Ceres from sources https://docs.openvins.com/gs-installing.html#gs-install-ceres

sudo apt-get install -y cmake libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev CERES_VERSION="2.0.0" git clone <https://ceres-solver.googlesource.com/ceres-solver> cd ceres-solver git checkout tags/${CERES_VERSION} mkdir build && cd build cmake .. make sudo make install

Calibration data

Add folder with calibration and configuration to open_vins/config

Update launch file

open_vins/msckf/launch

Run

roslaunch ov_msckf bee.launch verbosity:=DEBUG

Visualization

rviz rviz

select configuration open_vins/msckf/launch/display.rviz