参考博客： https://blog.csdn.net/weixin_43922139/article/details/86005766#3Local_VisualInertia_BA_and_Relocalization_21

This repositories is a version of HKUST-Aerial-Robotics/VINS-Mono without ROS mechanism. The project can be passed on the euroc dataset so far. EuRoc ASL data format, this version can run both on 32bit OS and 64 bit OS platform.

thanks to the reference program：

HKUST-Aerial-Robotics/VINS-Mono

What need to be installed

  1. Ceres Solver
  2. Opencv 3.1
  3. Eigen 3.2.0
  4. boost
  5. Pangolin

How to build:

  1. mkdir VINS_Workspace
  2. cd VINS_Workspace
  3. git clone git@github.com:heguixiang/Remove_ROS_VINS.git
  4. mv Remove_ROS_VINS src
  5. ./generate.sh

How to run:

  1. cd VINS_Workspace
  2. mkdir -p data/image/MH_01_easy
  3. mkdir -p data/imu/
  4. cd VINS_Workspace/data & git clone git@github.com:heguixiang/EuRoc-Timestamps.git
  5. download the EuRoc dataset(e.g. Machine Hall 01)
  6. cp the MH_01_easy/mav0/cam0/data to data/image/MH_01_easy
  7. cp the MH_01_easy/mav0/imu0/data.csv to data/imu/
  8. cd VINS_Workspace
  9. ./src/vins_estimator/build/vins_estimator ./src/config/euroc/euroc_config.yaml ./data/image/MH_01_easy/data/ ./data/EuRoc-Timestamps/MH01.txt ./data/imu/data.csv