SuperVINS Files

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                          SuperVINS - Setup & Installation Guide
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DATA STRUCTURE
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data/V2_01_easy.bag
ceres-solver-2.1.0.tar.gz
onnxruntime-linux-x64-gpu-1.16.3.tgz
onnxruntime-linux-x64-gpu-1.19.2.tgz
SuperVINS

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STEP 1: Copy SuperVINS Data
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Copy all data into ~/Documents/SuperVINS_data
    cd ~/Documents/SuperVINS_data

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STEP 2: Extract Cache Files
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Copy all *.deb packages to apt cache folder(/var/cache/apt/archives)

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STEP 3: Install ROS Noetic
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Add the ROS package repository, update, and install:

    sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros-latest.list'
    sudo apt update --no-download
    sudo apt install ros-noetic-desktop-full

Source ROS in your shell:

    echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
    source ~/.bashrc


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STEP 4: Verify OpenCV Installation
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Confirm OpenCV 4 is installed (expected output: 4.2.0):

    pkg-config --modversion opencv4

    Expected output: 4.2.0


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STEP 5: Install Ceres Solver 2.1.0
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Extract, configure, build, and install Ceres Solver:

    sudo tar -xzvf ceres-solver-2.1.0.tar.gz
    mkdir ceres_bin
    cd ceres_bin
    sudo apt-get install libgoogle-glog-dev
    sudo cmake ../ceres-solver-2.1.0
    sudo make
    sudo make install


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STEP 6: Set Up Catkin Workspace & Clone Project
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Create and initialise the catkin workspace:

    mkdir -p ~/catkin_ws/src
    cd ~/catkin_ws/src
    catkin_init_workspace
    cd ~/catkin_ws
    catkin_make
    echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
    source ~/.bashrc

Extract the SuperVINS project into the workspace:

    cd ~/catkin_ws/src
    cp -r ~/Documents/SuperVINS_data/SuperVINS -d .

Copy bag data into the project:

    cd ~/catkin_ws/src/SuperVINS
    cp -r ~/Documents/SuperVINS_data/data/ ./


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STEP 7: Configure ONNX Runtime Path
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Extract the ONNX Runtime library:

If use CUDA11.x:
    sudo tar -xzvf ~/Documents/SuperVINS_data/onnxruntime-linux-x64-gpu-1.16.3.tgz -C ~/Documents/SuperVINS_data/

If use CUDA12.x:
    sudo tar -xzvf ~/Documents/extra_package/onnxruntime-linux-x64-gpu-1.19.2.tgz -C ~/Documents/SuperVINS_data/

Edit the following two CMakeLists.txt files:

    ~/catkin_ws/src/SuperVINS/supervins_estimator/CMakeLists.txt
    ~/catkin_ws/src/SuperVINS/supervins_loop_fusion/CMakeLists.txt

In each file, find and replace:

    BEFORE:
        set(ONNXRUNTIME_ROOTDIR "/home/lhk/Thirdparty/onnxruntime")

    AFTER:
        If use CUDA11.x:
        set(ONNXRUNTIME_ROOTDIR "~/Documents/SuperVINS_data/onnxruntime-linux-x64-gpu-1.16.3")
        
        If use CUDA12.x:
        set(ONNXRUNTIME_ROOTDIR "~/Documents/SuperVINS_data/onnxruntime-linux-x64-gpu-1.19.2")
        
        
    If use CUDA:
    BEFORE:
    	option(onnxruntime_USE_CUDA "Build with CUDA support" OFF)
    AFTER:
    	option(onnxruntime_USE_CUDA "Build with CUDA support" ON)


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STEP 8: Build the Project
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Compile the catkin workspace:

    cd ~/catkin_ws
    catkin_make


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STEP 9: Run & Test
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Open 4 separate terminal windows and run the following commands:

  Terminal 1 — Start ROS master:
      roscore

  Terminal 2 — Launch visualisation:
      source ~/catkin_ws/devel/setup.bash
      roslaunch supervins supervins_rviz.launch

  Terminal 3 — Run the SuperVINS node:
      source ~/catkin_ws/devel/setup.bash
      rosrun supervins supervins_node ~/catkin_ws/src/SuperVINS/config/euroc/euroc_mono_imu_config.yaml

  Terminal 4 — Play the bag file:
      rosbag play ~/catkin_ws/src/SuperVINS/data/V2_01_easy.bag

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