Ubuntu20.04运行Vins-fusion

因已安装ROS noetic，eigen，opencv及ceres等库，这部分环境配置就不细讲，直接下载VINS-FUSION的代码库

下载编译

cd ~/vins-fusion/src
git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

编译时会发现一堆错误，别急，无非就是环境冲突问题，一个个解决

1）首先，ROS noetic版本中自带的OpenCV4和VINS-mono中需要使用的OpenCV3冲突的问题。修改vins-mono代码兼容opencv4。其实主要修改的是camera_model这个包，幸运的是发现不用修改代码中不兼容的变量，而是可以直接包含缺失的头文件即可。于是参考opencv参考文档查找opencv4中未定义的变量在opencv3中所属的头文件，然后添加到camera_model相应的头文件中顺利解决问题。

在camera_model包中的头文件Chessboard.h中添加
#include <opencv2/imgproc/types_c.h>
#include <opencv2/calib3d/calib3d_c.h>
在CameraCalibration.h中添加
#include <opencv2/imgproc/types_c.h>
#include <opencv2/imgproc/imgproc_c.h>

2）报错：

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:64:21: error: ‘integer_sequence’ is not a member of ‘std’
   64 | struct SumImpl<std::integer_sequence<T, N, Ns...>> {
      |                     ^~~~~~~~~~~~~~~~

解决：
这是因为较新版本中的ceres对c++版本有要求

在报错的项目的CMakeList里的
set(CMAKE_CXX_FLAGS “-std=c++11”)
改成
set(CMAKE_CXX_STANDARD 14)

3）编译时遇到报错 error: ‘CV_FONT_HERSHEY_SIMPLEX’ was not declared in this scope
将报错文件上的 CV_FONT_HERSHEY_SIMPLEX 参数改为 cv::FONT_HERSHEY_SIMPLEX

4）报错：

error: ‘CV_RGB2GRAY’ was not declared in this scope
   53 |       cv::cvtColor(image, aux, CV_RGB2GRAY);
      |                                ^~~~~~~~~~~

解决：
在报错头文件里添加

#include <opencv2/imgproc/types_c.h>

5）报错：

error: ‘CV_LOAD_IMAGE_GRAYSCALE’ was not declared in this scope
  125 |    imLeft = cv::imread(leftImagePath,  CV_LOAD_IMAGE_GRAYSCALE );
      |                                        ^~~~~~~~~~~~~~~~~~~~~~~

但在Opencv4中，CV_LOAD_IMAGE_GRAYSCALE找不到，经过查看Opencv的API可知，CV_LOAD_IMAGE_GRAYSCALE已改为 IMREAD_GRAYSCALE，修改即可。

修改之后即可编译成功。

运行VINS-Fusion

Monocualr camera + IMU

roslaunch vins vins_rviz.launch
rosrun vins vins_node ~/vins-fusion/src/VINS-Fusion/config/euroc/euroc_mono_imu_config.yaml 
(optional) rosrun loop_fusion loop_fusion_node ~/vins-fusion/src/VINS-Fusion/config/euroc/euroc_mono_imu_config.yaml 
rosbag play ~/SLAM/test_data/MH_01_easy.bag

Stereo cameras + IMU

roslaunch vins vins_rviz.launch
rosrun vins vins_node ~/vins-fusion/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml 
(optional) rosrun loop_fusion loop_fusion_node ~/vins-fusion/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml 
rosbag play ~/SLAM/test_data/MH_01_easy.bag

Stereo cameras

roslaunch vins vins_rviz.launch
rosrun vins vins_node ~/vins-fusion/src/VINS-Fusion/config/euroc/euroc_stereo_config.yaml 
(optional) rosrun loop_fusion loop_fusion_node ~/vins-fusion/src/VINS-Fusion/config/euroc/euroc_stereo_config.yaml 
rosbag play ~/SLAM/test_data/MH_01_easy.bag

Stereo cameras + GPS

    roslaunch vins vins_rviz.launch
    rosrun vins kitti_gps_test ~/catkin_ws/src/VINS-Fusion/config/kitti_raw/kitti_10_03_config.yaml YOUR_DATASET_FOLDER/2011_10_03_drive_0027_sync/ 
    rosrun global_fusion global_fusion_node

运行成功：