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Иван Подмогильный
2022-08-31 23:28:19 +03:00
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# open_vins for AR. # open_vins for AR.
Link to the original repository:
# Features # Features
1. GPS loosely coupled sensor fusion taken from VINS-Fusion. 1. GPS loosely coupled sensor fusion taken from VINS-Fusion.
@@ -37,4 +38,5 @@ https://redmine.drivecast.tech/issues/374
There is a problem with publishing the cubes to two different topics: to the VIO and to the GPS-VIO frames. I have to find the workaround for this problem. For now you can see the AR cubes in the rviz which shows VIO (from ov_msckf directory) There is a problem with publishing the cubes to two different topics: to the VIO and to the GPS-VIO frames. I have to find the workaround for this problem. For now you can see the AR cubes in the rviz which shows VIO (from ov_msckf directory)
### Saving the rendered AR to image sequnece ### Saving the rendered AR to image sequnece
1. Turn on the CameraPub display. The image sequnece will be stored to ~/.ros/ directory 1. To the catkin_ws_ov/src directory clone the https://git.drivecast.tech/pi/rviz_camera_stream_ar repository. And build it from catkin_ws_ov directory with `catkin build` command
2. In rviz with running ov_msckf turn on the CameraPub display. The image sequnece will be stored to ~/.ros/ directory