Kimera_VIO on a Carla sequence

[tbrayer2]

Thank you for this novel and elegant work of tightly coupled VIO. I would like to use it to get a 6dof of a driving car. I prepared an autonomous driving sequence with Carla simulator. I have a monocular VIO setup of a single frontal RGB camera, and IMU unit. For simplicity I placed the camera and IMU at the exact same location, with the exact same orientation. The IMU streams at 100 fps, and the images stream at 20 fps. I fail to execute the VIO on my data. It doesn't produce any trajectory, and the feature tracking seems unreasonable. I disable the lcd and the mesher as they are irrelevant for my project. I have some issues and I would appreciate your advice.

1. In my case the extrinsic matrix in the left camera params file should just be the identity matrix, however – the Prisma in the 3D visualizer is facing the wrong direction. How could that be?
2. Which coordinate system do you assume (right \ left), and what are the axes directions?
3. How come Pangolin viewer only presents a colored cube?
4. In case the car is standing still I'm getting a low disparity warning and then the application terminates.