无人机自主导航（ARM架构的vins-fusion-GPU部署）

本文参考GitHub - arjunskumar/vins-fusion-gpu-tx2-nano: Installation step of vins-fusion gpu version on Nvidia Jetson TX2 & Nvidia Jetson Nano ( JP 4.2.2)

1.将启动项改为SSD启动

（待续）

2.环境配置（Ubuntu 18.04）

（0）Cuda 10.2

用sdkmanager的刷镜像方式一般没有预装cuda。装系统之后安装更简单一些。

sudo apt-get update
sudo apt-get install cuda-toolkit-10-2

安装好之后，在 .bashrc中配置环境变量。source之后，nvcc -- version 即可查看cuda版本。

export PATH=/usr/local/cuda-10.2/bin${PATH:+:${PATH}}
export LD_LIBRARY_PATH=/usr/local/cuda-10.2/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
export CUDA_ROOT=/usr/local/cuda

（1）Eigen

#  Remove pre-built Eigen

sudo apt-get remove libeigen3-dev 
cd ~/Downloads/
wget -O eigen.zip https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.zip #check version
unzip eigen.zip
mkdir eigen-build && cd eigen-build
cmake ../eigen-3.3.7/ && sudo make install
pkg-config --modversion eigen3 # Check Eigen Version

（2）Ceres solver

cd ~/Downloads/
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
mkdir ceres-bin
mkdir solver && cd ceres-bin
cmake ../ceres-solver-1.14.0 -DEXPORT_BUILD_DIR=ON -DCMAKE_INSTALL_PREFIX="../solver" 

  #good for build without being root privileged and at wanted directory
  
make -j3 # 6 : number of cores
make install
bin/simple_bundle_adjuster ../ceres-solver-1.14.0/data/problem-16-22106-pre.txt # to check version

(3) Opencv

# remove prebuilt opencv
sudo apt-get purge libopencv* python-opencv 
sudo apt-get update
sudo apt-get install -y build-essential pkg-config

## libeigen3-dev # recommend to build from source

sudo apt-get install -y cmake libavcodec-dev libavformat-dev libavutil-dev \
    libglew-dev libgtk2.0-dev libgtk-3-dev libjpeg-dev libpng-dev libpostproc-dev \
    libswscale-dev libtbb-dev libtiff5-dev libv4l-dev libxvidcore-dev \
    libx264-dev qt5-default zlib1g-dev libgl1 libglvnd-dev pkg-config \
    libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev mesa-utils     

sudo apt-get install python2.7-dev python3-dev python-numpy python3-numpy

# To fix OpenGL related compilation problems 

cd /usr/lib/aarch64-linux-gnu/
sudo ln -sf libGL.so.1.0.0 libGL.so
sudo vim /usr/local/cuda/include/cuda_gl_interop.h

# Comment (line #62~68) of cuda_gl_interop.h 

//#if defined(__arm__) || defined(__aarch64__)
//#ifndef GL_VERSION
//#error Please include the appropriate gl headers before including cuda_gl_interop.h
//#endif
//#else
 #include 
//#endif

# Then once linking is done, go to Downloads to begin opencv installation
cd ~/Downloads/
wget -O opencv.zip https://github.com/opencv/opencv/archive/3.4.1.zip # check version
unzip opencv.zip
cd opencv-3.4.1/ && mkdir build && cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE \
        -D CMAKE_INSTALL_PREFIX=/usr/local \
        -D WITH_CUDA=ON \
        -D CUDA_ARCH_BIN=6.2 \
        -D CUDA_ARCH_PTX="" \
        -D ENABLE_FAST_MATH=ON \
        -D CUDA_FAST_MATH=ON \
        -D WITH_CUBLAS=ON \
        -D WITH_LIBV4L=ON \
        -D WITH_GSTREAMER=ON \
        -D WITH_GSTREAMER_0_10=OFF \
        -D WITH_QT=ON \
        -D WITH_OPENGL=ON \
        -D CUDA_NVCC_FLAGS="--expt-relaxed-constexpr" \
        -D WITH_TBB=ON \
         ../
make  # running in single core is good to resolve the compilation issues         
sudo make install
cd ../../ && sudo rm -rf opencv-3.4.1 # optional (can save 10GB Disk Space)
pkg-config --modversion opencv # Check opencv Version

(3) ROS 安装

参考ros.org 自行安装。此处与教程（vins-fusion-gpu-tx2-nano）略有差异，我直接使用了ros内置的cv_bridge。因为涉及到源码安装opencv，cv_bridgeConfig.cmake中include的地址要做修改，否则后续编译报错，可以参考上一篇文章。

3.VINS-Fusion-GPU 安装及编译

具体参数可看源文档

https://github.com/pjrambo/VINS-Fusion-gpu

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

sudo apt-get install ros-melodic-tf
sudo apt-get install ros-melodic-image-transport
sudo apt-get install ros-melodic-rviz

# Edit CMakeLists.txt for loop_fusion and vins_estimator
cd ~/catkin_ws/src/VINS-Fusion-gpu/loop_fusion && gedit CMakeLists.txt

##For loop_fusion : line 19
#find_package(OpenCV)
include(/usr/local/share/OpenCV/OpenCVConfig.cmake)

cd ~/catkin_ws/src/VINS-Fusion-gpu/vins_estimator && gedit CMakeLists.txt

##For vins_estimator : line 20
#find_package(OpenCV REQUIRED)
include(/usr/local/share/OpenCV/OpenCVConfig.cmake)

cd ~/catkin_ws/
source devel/setup.bash
catkin_make