Installation

MVIS is pure Python and installs with pip on Windows, macOS, and Linux. There is no ROS dependency and nothing to compile.

One-step setup (recommended)

bash scripts/setup_env.sh
conda activate mvis

Creates the mvis conda environment, installs every dependency, and runs the test suite so you know the install works before you point it at data.

Manual install

pip install -e .

Detector backends are optional extras — install the ones your boards need:

pip install -e ".[apriltag]"    # AprilGrid (aprilgrid package)
pip install -e ".[aruco]"       # ArUco (opencv-contrib)
pip install -e ".[dev]"         # pytest

Reading bags

ROS bags are read through rosbags — pure Python, no ROS installation:

pip install rosbags

This is what lets a ROS1 or ROS2 bag be calibrated on a machine that has never had ROS on it.

GTSAM needs NumPy 1.x

GTSAM 4.2 from pip is built against the NumPy 1.x ABI. With NumPy 2 installed you will get a segfault when constructing gtsam.Pose3(Rot3, np.array) — not an exception, a crash. Pin it:

pip install "numpy<2"

Check the install

mvis --help

Seven subcommands should be listed — calibrate, cam, cam-imu, apply-calib, roundtrip, run, analyze. They are documented in the CLI reference.

Next

Calibrate something in Quickstart.