# vins_fusion

**Repository Path**: lulese/vins_fusion

## Basic Information

- **Project Name**: vins_fusion
- **Description**: ubuntu20.04适配的vins_fusion
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-05-27
- **Last Updated**: 2025-06-01

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 1.配置

## 1.1 opencv 3.4.11

去下载opencv 3.4.11 [链接](https://opencv.org/releases/page/3/)

~~~
cd opencv3.4.11
mkdir build
cd build 
cmake ..
make -j6
sudo make install
~~~

## 1.2 ceres 1.14.0

~~~
https://github.com/ceres-solver/ceres-solver.git -b 1.14.0
cd ceres-solver-1.14.0
mkdir build
cd build 
cmake ..
make -j6
sudo make install
~~~

## 1.3 realsenselib realsense-ros

~~~
自行查找哦
~~~

## 1.4 编译

~~~
mkdir ~/vins_fusion/src
git clone https://gitee.com/lulese/vins_fusion.git
cd ~/vins_fusion && mkdir output
catkin_make
~~~

# 2.启动

可以下载官方数据集[链接](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets)

~~~
roslaunch vins vins_rviz.launch
rosrun vins vins_node ~/vins_fusion/src/VINS-Fusion/config/realsense_d435i/realsense_stereo_imu_config.yaml
(optional) rosrun loop_fusion loop_fusion_node ~/vins_fusion/src/VINS-Fusion/config/realsense_d435i/realsense_stereo_imu_config.yaml
~~~