open_vins for AR.

Features

1. GPS loosely coupled sensor fusion taken from VINS-Fusion.
2. AR visualizations in ROS Rviz.
3. Ability to save the image sequnece of the camera with rendered AR directly in Rviz.

Redmine

Please visit the Redmine notes of the following tasks to see the more detailed overview and the detailed developing process: https://redmine.drivecast.tech/issues/376
https://redmine.drivecast.tech/issues/375
https://redmine.drivecast.tech/issues/374

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)

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))