https://www.yuque.com/xtdrone/manual_cn/vio

安装ceres：

bash
展开代码
sudo apt update

sudo apt install -y libceres-dev

bash
展开代码
cp -r ~/XTDrone/sensing/slam/vio/VINS-Fusion ~/catkin_ws/src/
mkdir ~/catkin_ws/scripts/
cp ~/XTDrone/sensing/slam/vio/xtdrone_run_vio.sh ~/catkin_ws/scripts/
cd ~/catkin_ws
catkin_make #或catkin build，取决于您的编译工具