• Updated compatible patch to put over this PR136: https://gist.github.com/matlabbe/795ab37067367dca58bbadd8201d986c

  • Install VINS-Fusion:

    cd ~/catkin_ws/src
    git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git
    cd VINS-Fusion
    git fetch origin pull/136/head:noetic_fix
    git checkout noetic_fix
    wget https://gist.githubusercontent.com/matlabbe/795ab37067367dca58bbadd8201d986c/raw/193453344b0e35d3b0156a763699d7976474d928/vins-fusion_pull136.patch
    git apply vins-fusion_pull136.patch
    

• FOCAL_LENGTH was hard-coded to 460 inside VINS repo, now it is adjusted based on current camera calibration. It requires the patch above or you will get an error like this:

  • /home/vscode/catkin_ws/rtabmap/corelib/src/odometry/OdometryVINSFusion.cpp: In constructor ‘rtabmap::VinsFusionEstimator::VinsFusionEstimator(const rtabmap::Transform&, const rtabmap::StereoCameraModel&, bool)’: /home/vscode/catkin_ws/rtabmap/corelib/src/odometry/OdometryVINSFusion.cpp:90:17: error: assignment of read-only variable ‘FOCAL_LENGTH’ 90 | FOCAL_LENGTH = params.fx();

• Updated visualization, the dots in Image View follows better the image and we show the tracked features.

• Renamed OdometryVINS to OdometryVINSFusion to be less confusing with other approaches containing VINS too.

  • With cmake, use cmake -DWITH_VINS_FUSION=ON (backward compatible if you still use -DWITH_VINS=ON)
  • Renamed parameter OdomVINS/ConfigPath to OdomVINSFusion/ConfigPath (backward compatible if you still use old name, a warning will be shown).

Tested inside docker ubuntu 20.04 + Noetic using euroc_datasets.launch.