Dependencieshttp://wiki.ros.org/ROS/Installation https://github.com/borglab/gtsam https://github.com/opencv/opencv https://github.com/rpng/open_vins/tree/develop_v2.3 apriltags-cpp (see opencv4 branch if needed)
https://github.com/rpng/apriltags-cpp InstallationCreate your workspace mkdir -p ./workspace/src cd workspace/src OpenVINS project git clone https://github.com/rpng/open_vins/ cd open_vins/ git checkout v2.3 cd .. OpenCV 3 or 4 from ROS. sudo apt install ros-melodic-cv-bridge #18.04 sudo apt install ros-noetic-cv-bridge #20.04 Optional OpenCV from source see these instructions. git clone https://github.com/opencv/opencv/ git clone https://github.com/opencv/opencv_contrib/ mkdir opencv/build/ cd opencv/build/ cmake -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules .. make -j8 sudo make install AprilTag lib with ROS wrapper (see opencv4 branch if needed) git clone https://github.com/rpng/apriltags-cpp.git Building GTSAM Dependencies wget https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS-2019.PUB sudo apt-key add GPG-PUB-KEY-INTEL-SW-PRODUCTS-2019.PUB rm GPG-PUB-KEY-INTEL-SW-PRODUCTS-2019.PUB sudo sh -c 'echo deb https://apt.repos.intel.com/mkl all main > /etc/apt/sources.list.d/intel-mkl.list' sudo sh -c 'echo deb https://apt.repos.intel.com/tbb all main > /etc/apt/sources.list.d/intel-tbb.list' sudo apt-get update sudo apt-get install intel-tbb-2020.0-088 sudo apt-get install intel-mkl-2020.0-088 Building GTSAM sudo apt install libboost-all-dev libeigen3-dev libmetis-dev git clone https://github.com/borglab/gtsam mkdir gtsam/build/ cd gtsam/build/ cmake -DCMAKE_BUILD_TYPE=Release -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF .. make -j6 sudo make -j6 install echo 'export LD_LIBRARY_PATH=/usr/local/lib/:$LD_LIBRARY_PATH' >> ~/.bashrc Clone this project git clone https://github.com/yangyulin/mvis.git Build catkin build Possible Errors and Solutions
ccmake .. GTSAM_BUILD_WITH_MARCH_NATIVE=OFF
catkin build -j2 |