open_vins for AR.

Installation

Requirements

1. Ubuntu 20.04
2. OpenCV 3 with contrib and libgdal included: https://docs.opencv.org/4.x/d7/d9f/tutorial_linux_install.html. If catkin buld will be complaining that OpenCV is not found, please set the variable in CMakeLists.txt for each package: set(OpenCV_DIR "path_to_opencv_build_directory")
3. ROS noetic, install only ROS fromm this guide (do not install open_vins): https://docs.openvins.com/gs-installing.html
4. KAIST Urban dataset. On the server: /mnt/disk-small

Building

1. mkdir -p ~/workspace/catkin_ws_ov/src/ && cd ~/workspace/catkin_ws_ov/src
2. git clone https://git.drivecast.tech/pi/openvins_linux.git
3. cd ../
4. catkin build

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.

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)