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Add consistency check for visualization flags in KimeraVioRos & Remove redundant argument #217

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Add consistency check for visualization flags in KimeraVioRos & Remove redundant argument #217

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fcbe6cf
Add consistency check for visualization flags in KimeraVioRos
RonghaiHe Jan 10, 2025
d99a5d0
Remove redundant pipeline flag argument
RonghaiHe Jan 10, 2025
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2 changes: 0 additions & 2 deletions launch/kimera_vio_ros.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -110,8 +110,6 @@ file and include this one to launch KimeraVIO on the dataset of your choice -->
<arg name="include_pipeline_flags" default="false"/>
<arg name="pipeline_flag_args" value="--flagfile=$(arg flags_folder)/Pipeline.flags"
if="$(arg include_pipeline_flags)"/>
<arg name="pipeline_flag_args" value=""
unless="$(arg include_pipeline_flags)"/>

<arg name="glog_dir" default=""/>
<arg name="glog_to_dir" default="false"/>
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7 changes: 6 additions & 1 deletion src/KimeraVioRos.cpp
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Expand Up @@ -49,6 +49,10 @@ KimeraVioRos::KimeraVioRos()
"restart_kimera_vio", &KimeraVioRos::restartKimeraVio, this);

CHECK(nh_private_.getParam("use_rviz", use_rviz_));
// Check that visualization flags are consistent
CHECK_EQ(use_rviz_, FLAGS_visualize)
<< "visualize flags must match: use_rviz_ and FLAGS_visualize should "
"be the same";

nh_private_.getParam("use_lcd_registration_server",
use_lcd_registration_server_);
Expand Down Expand Up @@ -304,7 +308,8 @@ void KimeraVioRos::connectVIO() {
std::placeholders::_1));

if (vio_params_->frontend_type_ == VIO::FrontendType::kStereoImu) {
auto stereo_pipeline = dynamic_cast<StereoImuPipeline*>(vio_pipeline_.get());
auto stereo_pipeline =
dynamic_cast<StereoImuPipeline*>(vio_pipeline_.get());
CHECK(stereo_pipeline);

data_provider_->registerRightFrameCallback(
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