From fcbe6cf280096365d0bac8559e61994559483b78 Mon Sep 17 00:00:00 2001
From: RonghaiHe <hrhkjys@qq.com>
Date: Fri, 10 Jan 2025 12:42:43 +0800
Subject: [PATCH 1/2] Add consistency check for visualization flags in
 KimeraVioRos

---
 src/KimeraVioRos.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/src/KimeraVioRos.cpp b/src/KimeraVioRos.cpp
index e9041814..c8df6734 100644
--- a/src/KimeraVioRos.cpp
+++ b/src/KimeraVioRos.cpp
@@ -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_);
@@ -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(

From d99a5d015961df9c8f4ab64e9d752adc070269d3 Mon Sep 17 00:00:00 2001
From: RonghaiHe <hrhkjys@qq.com>
Date: Fri, 10 Jan 2025 17:50:46 +0800
Subject: [PATCH 2/2] Remove redundant pipeline flag argument

---
 launch/kimera_vio_ros.launch | 2 --
 1 file changed, 2 deletions(-)

diff --git a/launch/kimera_vio_ros.launch b/launch/kimera_vio_ros.launch
index 2104f23a..88820cc3 100644
--- a/launch/kimera_vio_ros.launch
+++ b/launch/kimera_vio_ros.launch
@@ -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"/>