MYNTAI MYNT EYE D-Series, Documentation

Page: 78 / 112

MYNT EYE D SDK Documentation, Release 1.8.0
6.5.2 Install ROS Kinetic conveniently (if already installed, please ignore)
cd ~
wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \
chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic
6.5.3 Run VINS-FUSION with docker
Note:
To complie with docker,we recommend that you should use more than 16G RAM, or ensure that the RAM and
virtual memory space is greater than 16G.
Install docker
sudo apt-get update
sudo apt-get install \
apt-transport-https \
ca-certificates \
curl
\
gnupg-agent \
software-properties-common
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
sudo add-apt-repository \
"deb [arch=amd64] https://download.docker.com/linux/ubuntu \
$( lsb_release -cs ) \
stable"
sudo apt-get update
sudo apt-get install docker-ce docker-ce-cli containerd.io
Tip:
add your account to docker group by sudo usermod -aG docker $YOUR_USER_NAME . Relaunch the
terminal or logout and re-login if you get Permission denied error.
Install MYNT-EYE-VINS-FUSION-Samples
git clone - b docker_feat https: // github . com / slightech / MYNT - EYE - VINS - FUSION - Samples . git
cd MYNT - EYE - VINS - FUSION - Sample / docker
make build
Run VINS_FUSION
1. Run mynteye node
cd MYNT-EYE-D-SDK ( local path of MYNT-EYE-D-SDK )
source ./wrappers/ros/devel/setup.bash
roslaunch mynteye_wrapper_d vins_fusion.launch stream_mode: = 1 # stereo camera with
˓ →
640x480
2. Open another terminal to run vins-fusion
74 Chapter 6. OPEN SOURCE SUPPORT