参考官方教程https://docs.openvins.com/gs-installing.html

安装依赖环境

安装ROS

直接根据ROS官方教程安装melodic版本即可，可以选择镜像源

安装Opencv

OpenVINS推荐版本为3.4.6安装命令为，挂终端梯子速度比较快，否则github下载速度会比较慢，可以浏览器下载下来

git clone --branch 3.4.6 https://github.com/opencv/opencv/
git clone --branch 3.4.6 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

下载编译OpenVINS

路径可以自行调整

mkdir -p ~/workspace/catkin_ws_ov/src/
cd ~/workspace/catkin_ws_ov/src/
git clone https://github.com/rpng/open_vins/
cd ..
catkin build

安装评估需要的环境

sudo apt-get install python-matplotlib python-numpy python2.7-dev python-psutil
catkin build -DDISABLE_MATPLOTLIB=OFF # build with viz (default)