vins-fusion install (ROS noetic)

https://github.com/guisoares9/VINS-Fusion

https://github.com/HKUST-Aerial-Robotics/VINS-Fusion

https://www.cvlibs.net/datasets/kitti/eval_odometry.php

 

 vins-fusion on Ubuntu 20.04

hpc@hpc-ubuntu:~$ mkdir -p ~/catkin_vins_fusion/src
hpc@hpc-ubuntu:~$ cd catkin_vins_fusion/
hpc@hpc-ubuntu:~/catkin_vins_fusion$ cd src/
hpc@hpc-ubuntu:~/catkin_vins_fusion/src$ git clone https://github.com/guisoares9/VINS-Fusion.git
Cloning into 'VINS-Fusion'...
remote: Enumerating objects: 636, done.
remote: Counting objects: 100% (25/25), done.
remote: Compressing objects: 100% (24/24), done.
remote: Total 636 (delta 4), reused 9 (delta 0), pack-reused 611
Receiving objects: 100% (636/636), 80.77 MiB | 16.10 MiB/s, done.
Resolving deltas: 100% (234/234), done.
hpc@hpc-ubuntu:~/catkin_vins_fusion/src$
hpc@hpc-ubuntu:~/catkin_vins_fusion$ catkin_make
Base path: /home/hpc/catkin_vins_fusion
Source space: /home/hpc/catkin_vins_fusion/src
Build space: /home/hpc/catkin_vins_fusion/build
Devel space: /home/hpc/catkin_vins_fusion/devel
Install space: /home/hpc/catkin_vins_fusion/install
Creating symlink "/home/hpc/catkin_vins_fusion/src/CMakeLists.txt" pointing to "/opt/ros/noetic/share/catkin/cmake/toplevel.cmake"
####
#### Running command: "cmake /home/hpc/catkin_vins_fusion/src -DCATKIN_DEVEL_PREFIX=/home/hpc/catkin_vins_fusion/devel -DCMAKE_INSTALL_PREFIX=/home/hpc/catkin_vins_fusion/install -G Unix Makefiles" in "/home/hpc/catkin_vins_fusion/build"
####
-- The C compiler identification is GNU 9.4.0
-- The CXX compiler identification is GNU 9.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/hpc/catkin_vins_fusion/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/noetic
-- This workspace overlays: /opt/ros/noetic
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3")
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Using Debian Python package layout
-- Found PY_em: /usr/lib/python3/dist-packages/em.py  
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/hpc/catkin_vins_fusion/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.10")
-- Found Threads: TRUE  
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 4 packages in topological order:
-- ~~  - camera_models
-- ~~  - global_fusion
-- ~~  - loop_fusion
-- ~~  - vins
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'camera_models'
-- ==> add_subdirectory(VINS-Fusion/camera_models)
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0") found components: filesystem program_options system
-- Found OpenCV: /usr (found version "4.2.0")
-- Found installed version of Eigen: /usr/lib/cmake/eigen3
-- Found required Ceres dependency: Eigen version 3.3.7 in /usr/include/eigen3
-- Found required Ceres dependency: glog
-- Found installed version of gflags: /usr/lib/x86_64-linux-gnu/cmake/gflags
-- Detected gflags version: 2.2.2
-- Found required Ceres dependency: gflags
-- Found Ceres version: 1.14.0 installed in: /usr with components: [EigenSparse, SparseLinearAlgebraLibrary, LAPACK, SuiteSparse, CXSparse, SchurSpecializations, OpenMP, Multithreading]
-- +++ processing catkin package: 'global_fusion'
-- ==> add_subdirectory(VINS-Fusion/global_fusion)
-- Found installed version of Eigen: /usr/lib/cmake/eigen3
-- Found required Ceres dependency: Eigen version 3.3.7 in /usr/include/eigen3
-- Found required Ceres dependency: glog
-- Found installed version of gflags: /usr/lib/x86_64-linux-gnu/cmake/gflags
-- Detected gflags version: 2.2.2
-- Found required Ceres dependency: gflags
-- Found Ceres version: 1.14.0 installed in: /usr with components: [EigenSparse, SparseLinearAlgebraLibrary, LAPACK, SuiteSparse, CXSparse, SchurSpecializations, OpenMP, Multithreading]
-- +++ processing catkin package: 'loop_fusion'
-- ==> add_subdirectory(VINS-Fusion/loop_fusion)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Found installed version of Eigen: /usr/lib/cmake/eigen3
-- Found required Ceres dependency: Eigen version 3.3.7 in /usr/include/eigen3
-- Found required Ceres dependency: glog
-- Found installed version of gflags: /usr/lib/x86_64-linux-gnu/cmake/gflags
-- Detected gflags version: 2.2.2
-- Found required Ceres dependency: gflags
-- Found Ceres version: 1.14.0 installed in: /usr with components: [EigenSparse, SparseLinearAlgebraLibrary, LAPACK, SuiteSparse, CXSparse, SchurSpecializations, OpenMP, Multithreading]
-- +++ processing catkin package: 'vins'
-- ==> add_subdirectory(VINS-Fusion/vins_estimator)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Found installed version of Eigen: /usr/lib/cmake/eigen3
-- Found required Ceres dependency: Eigen version 3.3.7 in /usr/include/eigen3
-- Found required Ceres dependency: glog
-- Found installed version of gflags: /usr/lib/x86_64-linux-gnu/cmake/gflags
-- Detected gflags version: 2.2.2
-- Found required Ceres dependency: gflags
-- Found Ceres version: 1.14.0 installed in: /usr with components: [EigenSparse, SparseLinearAlgebraLibrary, LAPACK, SuiteSparse, CXSparse, SchurSpecializations, OpenMP, Multithreading]
-- Configuring done
-- Generating done
-- Build files have been written to: /home/hpc/catkin_vins_fusion/build
####
#### Running command: "make -j14 -l14" in "/home/hpc/catkin_vins_fusion/build"
####
Scanning dependencies of target camera_models
Scanning dependencies of target libGeographiccc
Scanning dependencies of target Calibrations
[  1%] Building CXX object VINS-Fusion/global_fusion/ThirdParty/GeographicLib/CMakeFiles/libGeographiccc.dir/src/Geocentric.cpp.o
[  2%] Building CXX object VINS-Fusion/global_fusion/ThirdParty/GeographicLib/CMakeFiles/libGeographiccc.dir/src/LocalCartesian.cpp.o
[  4%] Building CXX object VINS-Fusion/global_fusion/ThirdParty/GeographicLib/CMakeFiles/libGeographiccc.dir/src/Math.cpp.o
[  5%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/src/calib/CameraCalibration.cc.o
[  7%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/src/camera_models/CameraFactory.cc.o
[  8%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/src/camera_models/CostFunctionFactory.cc.o
[ 10%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/src/camera_models/ScaramuzzaCamera.cc.o
[ 11%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/src/chessboard/Chessboard.cc.o
[ 13%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/src/camera_models/Camera.cc.o
[ 14%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/src/camera_models/PinholeFullCamera.cc.o
[ 15%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/src/camera_models/PinholeCamera.cc.o
[ 17%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/src/camera_models/EquidistantCamera.cc.o
[ 18%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/src/camera_models/CataCamera.cc.o
[ 20%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/src/intrinsic_calib.cc.o
[ 21%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/src/chessboard/Chessboard.cc.o
[ 23%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/src/calib/CameraCalibration.cc.o
[ 24%] Linking CXX shared library /home/hpc/catkin_vins_fusion/devel/lib/liblibGeographiccc.so
[ 24%] Built target libGeographiccc
Scanning dependencies of target global_fusion_node
[ 26%] Building CXX object VINS-Fusion/global_fusion/CMakeFiles/global_fusion_node.dir/src/globalOptNode.cpp.o
[ 27%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/src/sparse_graph/Transform.cc.o
[ 28%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/src/gpl/gpl.cc.o
[ 30%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/src/gpl/EigenQuaternionParameterization.cc.o
[ 31%] Building CXX object VINS-Fusion/global_fusion/CMakeFiles/global_fusion_node.dir/src/globalOpt.cpp.o
[ 33%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/src/camera_models/Camera.cc.o
[ 34%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/src/camera_models/CameraFactory.cc.o
[ 36%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/src/camera_models/CostFunctionFactory.cc.o
[ 37%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/src/camera_models/PinholeCamera.cc.o
[ 39%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/src/camera_models/PinholeFullCamera.cc.o
[ 40%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/src/camera_models/CataCamera.cc.o
[ 42%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/src/camera_models/EquidistantCamera.cc.o
[ 43%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/src/camera_models/ScaramuzzaCamera.cc.o
[ 44%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/src/sparse_graph/Transform.cc.o
[ 46%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/src/gpl/gpl.cc.o
[ 47%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/src/gpl/EigenQuaternionParameterization.cc.o
[ 49%] Linking CXX executable /home/hpc/catkin_vins_fusion/devel/lib/global_fusion/global_fusion_node
[ 49%] Built target global_fusion_node
[ 50%] Linking CXX shared library /home/hpc/catkin_vins_fusion/devel/lib/libcamera_models.so
[ 50%] Built target camera_models
Scanning dependencies of target loop_fusion_node
Scanning dependencies of target vins_lib
[ 52%] Building CXX object VINS-Fusion/loop_fusion/CMakeFiles/loop_fusion_node.dir/src/ThirdParty/DUtils/Timestamp.cpp.o
[ 53%] Building CXX object VINS-Fusion/loop_fusion/CMakeFiles/loop_fusion_node.dir/src/ThirdParty/DBoW/ScoringObject.cpp.o
[ 55%] Building CXX object VINS-Fusion/loop_fusion/CMakeFiles/loop_fusion_node.dir/src/pose_graph_node.cpp.o
[ 56%] Building CXX object VINS-Fusion/loop_fusion/CMakeFiles/loop_fusion_node.dir/src/pose_graph.cpp.o
[ 57%] Building CXX object VINS-Fusion/loop_fusion/CMakeFiles/loop_fusion_node.dir/src/keyframe.cpp.o
[ 59%] Building CXX object VINS-Fusion/loop_fusion/CMakeFiles/loop_fusion_node.dir/src/utility/CameraPoseVisualization.cpp.o
[ 60%] Building CXX object VINS-Fusion/loop_fusion/CMakeFiles/loop_fusion_node.dir/src/ThirdParty/DBoW/BowVector.cpp.o
[ 62%] Building CXX object VINS-Fusion/loop_fusion/CMakeFiles/loop_fusion_node.dir/src/ThirdParty/DBoW/QueryResults.cpp.o
[ 63%] Building CXX object VINS-Fusion/loop_fusion/CMakeFiles/loop_fusion_node.dir/src/ThirdParty/DBoW/FBrief.cpp.o
[ 65%] Building CXX object VINS-Fusion/loop_fusion/CMakeFiles/loop_fusion_node.dir/src/ThirdParty/DBoW/FeatureVector.cpp.o
[ 66%] Building CXX object VINS-Fusion/loop_fusion/CMakeFiles/loop_fusion_node.dir/src/ThirdParty/DVision/BRIEF.cpp.o
[ 68%] Building CXX object VINS-Fusion/loop_fusion/CMakeFiles/loop_fusion_node.dir/src/ThirdParty/DUtils/Random.cpp.o
[ 69%] Building CXX object VINS-Fusion/vins_estimator/CMakeFiles/vins_lib.dir/src/estimator/parameters.cpp.o
[ 71%] Building CXX object VINS-Fusion/vins_estimator/CMakeFiles/vins_lib.dir/src/estimator/estimator.cpp.o
[ 72%] Building CXX object VINS-Fusion/loop_fusion/CMakeFiles/loop_fusion_node.dir/src/ThirdParty/VocabularyBinary.cpp.o
[ 73%] Building CXX object VINS-Fusion/vins_estimator/CMakeFiles/vins_lib.dir/src/estimator/feature_manager.cpp.o
[ 75%] Building CXX object VINS-Fusion/vins_estimator/CMakeFiles/vins_lib.dir/src/factor/pose_local_parameterization.cpp.o
[ 76%] Building CXX object VINS-Fusion/vins_estimator/CMakeFiles/vins_lib.dir/src/factor/projectionTwoFrameOneCamFactor.cpp.o
[ 78%] Linking CXX executable /home/hpc/catkin_vins_fusion/devel/lib/camera_models/Calibrations
In file included from /home/hpc/catkin_vins_fusion/src/VINS-Fusion/loop_fusion/src/ThirdParty/VocabularyBinary.cpp:1:
/home/hpc/catkin_vins_fusion/src/VINS-Fusion/loop_fusion/src/ThirdParty/VocabularyBinary.hpp: In constructor ‘VINSLoop::Vocabulary::Vocabulary()’:
/home/hpc/catkin_vins_fusion/src/VINS-Fusion/loop_fusion/src/ThirdParty/VocabularyBinary.hpp:31:11: warning: ‘VINSLoop::Vocabulary::nodes’ will be initialized after [-Wreorder]
   31 |     Node* nodes;
      |           ^~~~~
/home/hpc/catkin_vins_fusion/src/VINS-Fusion/loop_fusion/src/ThirdParty/VocabularyBinary.hpp:29:13: warning:   ‘int32_t VINSLoop::Vocabulary::nWords’ [-Wreorder]
   29 |     int32_t nWords;
      |             ^~~~~~
/home/hpc/catkin_vins_fusion/src/VINS-Fusion/loop_fusion/src/ThirdParty/VocabularyBinary.cpp:5:1: warning:   when initialized here [-Wreorder]
    5 | VINSLoop::Vocabulary::Vocabulary()
      | ^~~~~~~~
[ 79%] Building CXX object VINS-Fusion/vins_estimator/CMakeFiles/vins_lib.dir/src/factor/projectionTwoFrameTwoCamFactor.cpp.o
[ 79%] Built target Calibrations
[ 81%] Building CXX object VINS-Fusion/vins_estimator/CMakeFiles/vins_lib.dir/src/factor/projectionOneFrameTwoCamFactor.cpp.o
[ 82%] Building CXX object VINS-Fusion/vins_estimator/CMakeFiles/vins_lib.dir/src/factor/marginalization_factor.cpp.o
[ 84%] Building CXX object VINS-Fusion/vins_estimator/CMakeFiles/vins_lib.dir/src/utility/utility.cpp.o
[ 85%] Building CXX object VINS-Fusion/vins_estimator/CMakeFiles/vins_lib.dir/src/utility/visualization.cpp.o
[ 86%] Building CXX object VINS-Fusion/vins_estimator/CMakeFiles/vins_lib.dir/src/utility/CameraPoseVisualization.cpp.o
/home/hpc/catkin_vins_fusion/src/VINS-Fusion/loop_fusion/src/pose_graph.cpp: In member function ‘int PoseGraph::detectLoop(KeyFrame*, int)’:
/home/hpc/catkin_vins_fusion/src/VINS-Fusion/loop_fusion/src/pose_graph.cpp:409:47: warning: comparison of integer expressions of different signedness: ‘DBoW2::EntryId’ {aka ‘unsigned int’} and ‘int’ [-Wsign-compare]
  409 |             if (min_index == -1 || (ret[i].Id < min_index && ret[i].Score > 0.015))
In file included from /home/hpc/catkin_vins_fusion/src/VINS-Fusion/loop_fusion/src/ThirdParty/DBoW/DBoW2.h:63,
                 from /home/hpc/catkin_vins_fusion/src/VINS-Fusion/loop_fusion/src/keyframe.h:24,
                 from /home/hpc/catkin_vins_fusion/src/VINS-Fusion/loop_fusion/src/pose_graph.h:28,
                 from /home/hpc/catkin_vins_fusion/src/VINS-Fusion/loop_fusion/src/pose_graph.cpp:12:
/home/hpc/catkin_vins_fusion/src/VINS-Fusion/loop_fusion/src/ThirdParty/DBoW/TemplatedVocabulary.h: In instantiation of ‘void DBoW2::TemplatedVocabulary<TDescriptor, F>::loadBin(const string&) [with TDescriptor = boost::dynamic_bitset<>; F = DBoW2::FBrief; std::string = std::__cxx11::basic_string<char>]’:
/home/hpc/catkin_vins_fusion/src/VINS-Fusion/loop_fusion/src/ThirdParty/DBoW/TemplatedVocabulary.h:439:5:   required from ‘DBoW2::TemplatedVocabulary<TDescriptor, F>::TemplatedVocabulary(const string&) [with TDescriptor = boost::dynamic_bitset<>; F = DBoW2::FBrief; std::string = std::__cxx11::basic_string<char>]’
/home/hpc/catkin_vins_fusion/src/VINS-Fusion/loop_fusion/src/pose_graph.cpp:64:39:   required from here
/home/hpc/catkin_vins_fusion/src/VINS-Fusion/loop_fusion/src/ThirdParty/DBoW/TemplatedVocabulary.h:1529:29: warning: comparison of integer expressions of different signedness: ‘unsigned int’ and ‘int32_t’ {aka ‘int’} [-Wsign-compare]
 1529 |   for(unsigned int i = 0; i < voc.nNodes; ++i)
      |                           ~~^~~~~~~~~~~~
/home/hpc/catkin_vins_fusion/src/VINS-Fusion/loop_fusion/src/ThirdParty/DBoW/TemplatedVocabulary.h:1553:29: warning: comparison of integer expressions of different signedness: ‘unsigned int’ and ‘int32_t’ {aka ‘int’} [-Wsign-compare]
 1553 |   for(unsigned int i = 0; i < voc.nWords; ++i)
      |                           ~~^~~~~~~~~~~~
[ 88%] Building CXX object VINS-Fusion/vins_estimator/CMakeFiles/vins_lib.dir/src/initial/solve_5pts.cpp.o
[ 89%] Building CXX object VINS-Fusion/vins_estimator/CMakeFiles/vins_lib.dir/src/initial/initial_aligment.cpp.o
[ 91%] Building CXX object VINS-Fusion/vins_estimator/CMakeFiles/vins_lib.dir/src/initial/initial_sfm.cpp.o
[ 92%] Building CXX object VINS-Fusion/vins_estimator/CMakeFiles/vins_lib.dir/src/initial/initial_ex_rotation.cpp.o
[ 94%] Building CXX object VINS-Fusion/vins_estimator/CMakeFiles/vins_lib.dir/src/featureTracker/feature_tracker.cpp.o
[ 95%] Linking CXX executable /home/hpc/catkin_vins_fusion/devel/lib/loop_fusion/loop_fusion_node
[ 95%] Built target loop_fusion_node
[ 97%] Linking CXX shared library /home/hpc/catkin_vins_fusion/devel/lib/libvins_lib.so
[ 97%] Built target vins_lib
Scanning dependencies of target vins_node
[ 98%] Building CXX object VINS-Fusion/vins_estimator/CMakeFiles/vins_node.dir/src/rosNodeTest.cpp.o
[100%] Linking CXX executable /home/hpc/catkin_vins_fusion/devel/lib/vins/vins_node
[100%] Built target vins_node

VINS-Fusion on car demonstration

hpc@hpc-ubuntu:~/catkin_vins_fusion$ source devel/setup.bash
hpc@hpc-ubuntu:~/catkin_vins_fusion$ roslaunch vins vins_rviz.launch

hpc@hpc-ubuntu:~/catkin_vins_fusion$ source devel/setup.bash
hpc@hpc-ubuntu:~/catkin_vins_fusion$ rosrun vins vins_node ~/catkin_vins_fusion/src/VINS-Fusion/config/vi_car/vi_car.yaml

hpc@hpc-ubuntu:~/catkin_vins_fusion$ source devel/setup.bash
hpc@hpc-ubuntu:~/catkin_vins_fusion$ rosrun loop_fusion loop_fusion_node ~/catkin_vins_fusion/src/VINS-Fusion/config/vi_car/vi_car.yaml

hpc@hpc-ubuntu:~/Downloads$ rosbag play car.bag