Update 'ReadMe.md'

merge

ReadMe.md

@@ -1,4 +1,5 @@
 # open_vins for AR. 
+Link to the original repository: 
 
 # Features
 1. GPS loosely coupled sensor fusion taken from VINS-Fusion.
@@ -25,13 +26,17 @@ https://redmine.drivecast.tech/issues/374
 3. `cd ../`
 4. `catkin build`
 
-### Running
+### Running 
 1. from terminal in `~/workspace/catkin_ws_ov/` directory `source devel/setup.bash` and then `roslaunch ov_msckf subscribe.launch config:=kaist` 
 2. from second terminal in same directory `source devel/setup.bash` and then `roslaunch global_fusion global_fusion.launch`
 3. from 3d terminal in same directory `source devel/setup.bash` and then `rviz`, and open the open_vins/ov_msckf/launch/display.rviz configuration file. 
 4. from 4th terminal in same directory `source devel/setup.bash` and then `rviz`, and open the openv_vins/global_fusion/launch/display.rviz` file.
+5. from 5th terminal in the dataset bag directory: `rosbag play merged.bag gps_fix.bag`
+
+#### To run the kaist complex-urban dataset please download the bag file from /mnt/disk-small/podmivan/datasets/complex_urban/urban32-yeouido/bag/ directory. You need to download merged2.bag and gps_fix.bag files. 
 
 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
-1. Turn on the CameraPub (TODO: Change the Camera Info Topic in CameraPub to /ov_msckf/cam0_info and save the .rviz config file))
+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

ov_msckf/launch/display.rviz

@@ -4,6 +4,7 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded:
+        - /CameraPub11
         - /Camera1
         - /Camera1/Status1
         - /Marker1
@@ -54,7 +55,7 @@ Visualization Manager:
       Reference Frame: <Fixed Frame>
       Value: true
     - Background Color: 0; 0; 0
-      Camera Info Topic: /ov_msckf/camera0_info
+      Camera Info Topic: /ov_msckf/cam0_info
       Class: rviz_camera_stream/CameraPub
       Display namespace: ""
       Enabled: true