---

VINS-Fusion (CPU & GPU version)

• hardware setup
  • jetson TX2 - Jetpack 4.2
  • jetson AGX Xavier
  • jetson Xavier NX - Jetpack 4.4
  • realsense D435i (color, infra1, infra2)
  • pixhawk4 mini
  
  
• software setup
  • Ubuntu: 18.04
  • ROS: Melodic
  • OpenCV 3.4.1
  
  
• CPU ver. github link: HKUST-Aerial-Robotics
• GPU ver. github link: HKUST-Aerial-Robotics

---

Index

1. Prerequisites

    ● Eigen

    ● Ceres solver

2. Install

3. Jetson Boards

    ● If you encounter OpenCV related errors like 'cv::XX was not declared~', copy these custom define into the proper C++ files. Actually, there is no installation difference among TX2, Xavier, and NX

4. Run

    ● Uploaded folders for following setup: D435i, pixhawk4 mini

    ● for using your own sensor setup, you have to get a calibration data using kalibr

1. Prerequisites

● Eigen

• Use below command or manually download eigen-3.3.9.zip from here

$ wget -O eigen-3.3.9.zip https://gitlab.com/libeigen/eigen/-/archive/3.3.9/eigen-3.3.9.zip 
$ unzip eigen-3.3.9.zip
$ cd ~/eigen-3.3.9 && mkdir build && cd build
$ cmake ../ && sudo make install -j $(nproc)

● Ceres solver

• Ceres solver from here

$ sudo apt-get install -y cmake libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev
$ wget http://ceres-solver.org/ceres-solver-1.14.0.tar.gz
$ tar zxf ceres-solver-1.14.0.tar.gz
$ cd ceres-solver-1.14.0
$ mkdir build && cd build
$ cmake -DEXPORT_BUILD_DIR=ON \
        -DCMAKE_INSTALL_PREFIX=/usr/local \
        ../
$ make -j $(nproc) # number of cores
$ make test -j $(nproc)
$ sudo make install -j $(nproc)

● cv_bridge

• if you built OpenCV manually (refer here), you should also build 'cv_bridge' manually from source.
• Download from proper branch in here according to your ROS version. For example,

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

2. Install

• CPU version: git clone and build from source

$ cd ~/catkin_ws/src
$ git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git
$ cd ../ && catkin build -DCMAKE_BUILDTYPE=Release -j3
$ source ~/catkin_ws/devel/setup.bash

• GPU version: for more information, refer engcang

• download

$ cd ~/catkin_ws/src
$ git clone https://github.com/pjrambo/VINS-Fusion-gpu.git

• edit following CMakeLists.txt (from engcang)

  1. ~/VINS-Mono/loop_fusion/CMakeLists.txt : line 19
     #find_package(OpenCV)
     => include(/usr/local/share/OpenCV/OpenCVConfig.cmake)
     
     

  2. ~/VINS-Mono/vins_estimator/CMakeLists.tx: line 20
     #find_package(OpenCV REQUIRED)
     => include(/usr/local/share/OpenCV/OpenCVConfig.cmake)
     
     

• catkin build

$ cd ~/catkin_ws/
$ catkin build -DCMAKE_BUILDTYPE=Release -j $(nproc)
$ source ~/catkin_ws/devel/setup.bash

3. Jetson Boards

● Actually, no installation difference among TX2, Xavier, and NX

4. Run

● Uploaded folders for following setup: D435i, pixhawk4 mini

● for using your own sensor setup, you have to get a calibration data using kalibr

$ roslaunch realsense2_camera rs_camera.launch
$ roslaunch mavros px4.launch
$ rosrun vins vins_node [path of realsense_stereo_imu_config.yaml]
$ rosrun loop_fusion loop_fusion_node [path of realsense_stereo_imu_config.yaml]
$ roslaunch vins vins_rviz.launch