安装相机的SDK
git clone https://github.com/slightech/MYNT-EYE-D-SDK.git
cd MYNT-EYE-D-SDK
make init
make all
这里由于没有添加依赖，OpenCV会报错，添加依赖后重新编译安装OpenCV即可
使用以下指令查看对应的数据：
左右目的图像和彩色深度图
./samples/_output/bin/get_image
左目的图像，16UC1的深度图和鼠标选中的像素的深度值(mm)
./samples/_output/bin/get_depth
显示左目的图像，16UC1的深度图和点云
./samples/_output/bin/get_points
get_imu 打印 imu 数据
./samples/_output/bin/get_imu
get_img_params 打印相机参数并保存在文件中
./samples/_output/bin/get_img_params
get_imu_params 打印 imu 参数并保存在文件中
./samples/_output/bin/get_imu_params
get_from_callbacks 使用回调方式获取图像和 imu 数据
./samples/_output/bin/get_from_callbacks
get_all_with_options 使用不同参数打开设备
./samples/_output/bin/get_all_with_options
SDK编译到ROS，注意下面的路径，需要改为自己的路径！
cd /home/fxf/catkin_ws/src
git clone https://github.com/slightech/MYNT-EYE-D-SDK.git
cd MYNT-EYE-D-SDK
make ros
echo “source ~/catkin_ws/devel/setup.bash” >> ~/.bashrc
source ~/.bashrc
cd /home/fxf/catkin_ws/src
git clone https://github.com/slightech/MYNT-EYE-VINS-Sample.git
cd …
catkin_make
echo “source ~/catkin_ws/devel/setup.bash” >> ~/.bashrc
source ~/.bashrc
更新配置文件
运行
启动相机
source ~/catkin_ws_fusion_sample/src/MYNT-EYE-D-SDK/wrappers/ros/devel/setup.bash
roslaunch /home/chen/catkin_ws_fusion_sample/src/MYNT-EYE-D-SDK/wrappers/ros/src/mynteye_wrapper_d/launch/mynteye.launch stream_mode:=0
运行VINS
source ~/catkin_ws_fusion_sample/devel/setup.bash
roslaunch /home/chen/catkin_ws_fusion_sample/src/MYNT-EYE-VINS-Sample/vins_estimator/launch/mynteye_d.launch
如果发现有same name报错，就把src文件夹下的VINS-Mono文件夹删除
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