# Loosely-couples Loop Closure for open_vins
Refer to the original repository: https://github.com/rpng/ov_secondary  

As for now the repository is not working. It needs an additional development. 

## Installation 

### Requirements
Refer to the main repository to see the requirements https://git.drivecast.tech/pi/openvins_linux

### Building 
Install the repository to /catkin_ws_ov/src directory. And from the directory /catkin_ws_ov `catkin build`

### Running
1. To run the loop_closure node: in the additional terminal, after starting the ov_msckf node in the catkin_ws_ov directory: `source devel/seutp.bash` and then `roslaunch loop_fusion posegraph.launch` 
2. To see the visualization: in the additional terminal, after starting the loop_fusion node in the catkin_ws_ov directory: `source devel/setup.bash` and then `rviz`, Ctrl+O to open the open file dialogue. Find the visualization config in the /ov_secondary_linux/config/vins_rviz_config.rviz.

NOTE: If catkin complains during the build, you might need to rename the cloned repository name from ov_secondary_linux to ov_secondary.