// the find
engcang/vins-application
VINS-Fusion, VINS-Fisheye, OpenVINS, EnVIO, ROVIO, S-MSCKF, ORB-SLAM2, NVIDIA Elbrus application of different sets of cameras and imu on different board including desktop and Jetson boards
This is a build and configuration notebook, not a VIO implementation. It collects install steps and camera-specific configs for running several visual-inertial odometry and SLAM systems (VINS-Fusion, OpenVINS, ROVIO, ORB-SLAM2, DM-VIO, and others) on desktops and Jetson boards. It is aimed at robotics engineers who need one of these working on real hardware and would rather not rebuild the CUDA, OpenCV and cv_bridge chain by hand.
The build notes are concrete. They include the exact OpenCV 3.4.1 and 4.5.5 cmake flags with CUDA_ARCH_BIN set per board (Xavier 7.2, TX2 6.2, RTX 3080 8.6), the cv_bridge source patches needed for OpenCV 4 (the AccessFlag signature changes), and the workaround for the Kalibr focal-length initialization error. These are the steps that usually eat a week. The per-camera branches (Intel T265, D435i, OAK-D, ZED-mini, FlightGoggles) ship calibrated config files, so you start from a known-working setup instead of upstream defaults. The Kalibr-to-ROVIO notes are a good example of undocumented gotchas written down: rename Camera1/Camera2 to Camera0/Camera1 in the .info file and add the Velocity Updates block. The tested-hardware list and the KAIST run commands give a reproducible starting point for comparing algorithms on the same data.
The last push was March 2023. The README targets Ubuntu 18.04 and 20.04, ROS1 Melodic and Noetic, OpenCV 3.4.1 and 4.5.5, and gcc-6 and gcc-9, so anyone on a newer Ubuntu or ROS2 Humble will be on their own for most of it. The ROS2 section is effectively one algorithm, Isaac Elbrus, pinned to JetPack 4.6.1 and VPI 1.1.11, which makes it historical. Many links point to third-party blog posts, devtalk threads and other repos from 2018 to 2021, and some will be dead. There is no version manifest, so when an upstream changes, the instructions quietly go stale. The only code of its own is a patched OpenCV 4 port of vins_estimator and camera_models. There is no CI and no record of which upstream commits were actually verified. It is a useful notebook, but it is not a maintained project.