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.