VINS-Mono
A Robust and Versatile Monocular Visual-Inertial State Estimator
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Download Latest Version (.zip)- FindEigen.cmake
- 3dm_bag.launch
- ar_rviz.launch
- realsense_ar.launch
- ar_demo_node.cpp
- CMakeLists.txt
- package.xml
- FindEigen.cmake
- data.csv
- data.csv
- data.csv
- data.csv
- data.csv
- data.csv
- data.csv
- data.csv
- data.csv
- data.csv
- data.csv
- publish.launch
- benchmark_publisher_node.cpp
- CMakeLists.txt
- package.xml
- FindEigen.cmake
- CameraCalibration.h
- Camera.h
- CameraFactory.h
- CataCamera.h
- CostFunctionFactory.h
- EquidistantCamera.h
- PinholeCamera.h
- ScaramuzzaCamera.h
- Chessboard.h
- ChessboardCorner.h
- ChessboardQuad.h
- Spline.h
- EigenQuaternionParameterization.h
- EigenUtils.h
- gpl.h
- Transform.h
- CameraCalibration.cc
- Camera.cc
- CameraFactory.cc
- CataCamera.cc
- CostFunctionFactory.cc
- EquidistantCamera.cc
- PinholeCamera.cc
- ScaramuzzaCamera.cc
- Chessboard.cc
- EigenQuaternionParameterization.cc
- gpl.cc
- Transform.cc
- intrinsic_calib.cc
- CMakeLists.txt
- instruction
- package.xml
- readme.md
- 3dm_config.yaml
- black_box_config.yaml
- cla_config.yaml
- euroc_config.yaml
- euroc_config_no_extrinsic.yaml
- realsense_color_config.yaml
- realsense_fisheye_config.yaml
- realsense_zr300
- simulation_config.yaml
- tum_config.yaml
- AR_demo.rviz
- extrinsic_parameter_example.pdf
- fisheye_mask.jpg
- fisheye_mask_752x480.jpg
- vins_rviz_config.rviz
- data_generator.cpp
- data_generator.h
- data_generator_node.cpp
- CMakeLists.txt
- package.xml
- Dockerfile
- Makefile
- run.sh
- FindEigen.cmake
- feature_tracker.cpp
- feature_tracker.h
- feature_tracker_node.cpp
- parameters.cpp
- parameters.h
- tic_toc.h
- CMakeLists.txt
- package.xml
- FindEigen.cmake
- BowVector.cpp
- BowVector.h
- DBoW2.h
- FBrief.cpp
- FBrief.h
- FClass.h
- FeatureVector.cpp
- FeatureVector.h
- QueryResults.cpp
- QueryResults.h
- ScoringObject.cpp
- ScoringObject.h
- TemplatedDatabase.h
- TemplatedVocabulary.h
- DException.h
- DUtils.h
- Random.cpp
- Random.h
- Timestamp.cpp
- Timestamp.h
- BRIEF.cpp
- BRIEF.h
- DVision.h
- VocabularyBinary.cpp
- VocabularyBinary.hpp
- CameraPoseVisualization.cpp
- CameraPoseVisualization.h
- tic_toc.h
- utility.cpp
- utility.h
- keyframe.cpp
- keyframe.h
- parameters.h
- pose_graph.cpp
- pose_graph.h
- pose_graph_node.cpp
- CMakeLists.txt
- package.xml
- vins.png
- vins_black.png
- tro_technical_report.pdf
- brief_k10L6.bin
- brief_pattern.yml
- paper_bib.txt
- FindEigen.cmake
- 3dm.launch
- black_box.launch
- cla.launch
- euroc.launch
- euroc_no_extrinsic_param.launch
- realsense_color.launch
- realsense_fisheye.launch
- simulation.launch
- tum.launch
- vins_rviz.launch
- imu_factor.h
- integration_base.h
- marginalization_factor.cpp
- marginalization_factor.h
- pose_local_parameterization.cpp
- pose_local_parameterization.h
- projection_factor.cpp
- projection_factor.h
- projection_td_factor.cpp
- projection_td_factor.h
- initial_aligment.cpp
- initial_alignment.h
- initial_ex_rotation.cpp
- initial_ex_rotation.h
- initial_sfm.cpp
- initial_sfm.h
- solve_5pts.cpp
- solve_5pts.h
- CameraPoseVisualization.cpp
- CameraPoseVisualization.h
- tic_toc.h
- utility.cpp
- utility.h
- visualization.cpp
- visualization.h
- estimator.cpp
- estimator.h
- estimator_node.cpp
- feature_manager.cpp
- feature_manager.h
- parameters.cpp
- parameters.h
- CMakeLists.txt
- package.xml
- .gitignore
- LICENCE
- README.md
# Installation Guide
1. Get the code
git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono
Downloads the entire project code from GitHub to your computer.
cd VINS-Mono
Moves into the project folder you just downloaded.
2. Official Install Script
Easy RecommendedPrerequisites
- APT (Debian/Ubuntu κ³μ΄) Built into Debian/Ubuntu-based Linux distributions.
sudo apt-get install ros-YOUR_DISTRO-cv-bridge ros-YOUR_DISTRO-tf ros-YOUR_DISTRO-message-filters ros-YOUR_DISTRO-image-transport
Installs directly from the APT package repository (Debian/Ubuntu-based).
After installing, open a new terminal and run the program's version command (e.g. --version) to confirm it worked.
Pulled directly from this repo's README.
3. Docker
EasyPrerequisites
- Git Needed to download the project code from GitHub.
- Docker Desktop Needed to build and run containers. Install it and keep it running in the background.
cd ~/catkin_ws/src/VINS-Mono/docker
Moves into the project folder you just downloaded.
Run docker compose ps to check the containers are Up. If the README mentions a port, open http://localhost:PORT in your browser.
Pulled directly from this repo's README.
4. CMake
MediumPrerequisites
cd ar_demo
This project's files live in a subfolder, so move into it first.
mkdir build && cd build
Creates a folder to hold the build output and moves into it.
cmake ..
Analyzes the source code and generates build configuration files (must be run inside the build folder).
make
Compiles the code based on the generated build configuration to produce an executable.
Check that an executable was created inside the build folder, then run it directly (e.g. ./build/app_name).
5. Make
MediumPrerequisites
- Git Needed to download the project code from GitHub.
- Make Usually pre-installed on Linux/macOS. On Windows, install separately (e.g. via MSYS2 or WSL).
make build
Compiles the code based on the generated build configuration to produce an executable.
If it finishes without errors, it worked. Try running the generated executable directly.
Pulled directly from this repo's README.
// repository documentation
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