ubuntu16.04 运行vins fusion

####仅作为笔记
环境：
Ubuntu 64-bit 16.04

1. Ceres Solver

sudo apt-get install cmake
sudo apt-get install libgoogle-glog-dev
sudo apt-get install libatlas-base-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libsuitesparse-dev
###下载对应版本的Ceres库：https://github.com/ceres-solver/ceres-solver.git   
tar zxf ceres-solver-1.14.0.tar.gz
cd ceres-solver-1.14.0
mkdir build
cd build
cmake ..
make -j4
sudo make install

2. VINS-Fusion

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

3. 测试

#数据集下载：http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets
#对应EuRoc数据集 单目+imu：
roslaunch vins vins_rviz.launch
rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_mono_imu_config.yaml 
(optional) rosrun loop_fusion loop_fusion_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_mono_imu_config.yaml 
rosbag play YOUR_DATASET_FOLDER/MH_01_easy.bag

#对应EuRoc数据集 双目+imu：
roslaunch vins vins_rviz.launch
rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml 
(optional) rosrun loop_fusion loop_fusion_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml 
rosbag play YOUR_DATASET_FOLDER/MH_01_easy.bag

#对应EuRoc数据集 双目：
roslaunch vins vins_rviz.launch
rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_config.yaml 
(optional) rosrun loop_fusion loop_fusion_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_config.yaml 
rosbag play YOUR_DATASET_FOLDER/MH_01_easy.bag

#其他数据集参考：https://github.com/HKUST-Aerial-Robotics/VINS-Fusion
#使用realsense t265跑vins fusion参考：
#https://blog.csdn.net/sinat_16643223/article/details/107441103
#注意相机标定的时候选择omni+rantan，其实其他模型也行，我测试过pinhole+equidistant、pinhole+rantan、omni+rantan，但是在测试前搞清楚realsense到底使用的是什么模型是最重要的。

4. 测试结果