Toni Rosinol
Toni Rosinol
Amazing, thanks! If you push that dockerfile with the `rm` commands, I'll be sure to merge it!
Hi @SteveMacenski, Yes! Actually, we are working on making Kimera a multi-robot pipeline. Right now, we only support loop-closure detection and pose-graph optimization in Kimera-VIO which uses Kimera-RPGO. A full-fledged...
Hi @Mad-Thanos, good point! Right now we integrate pointclouds even for non-keyframes but we use the ROS TF interpolation between keyframes, which is definitely sub-optimal. At some point I was...
The accuracy won't get much worst, but you may not achieve real-time performance.
You can try to set the param `intra_keyframe_time` to `0.0` in `params/Euroc/FrontendParams.yaml` to have a pose per frame. This effectively makes each frame a keyframe.
Thanks! Do you remember which commits you were comparing?
Hi @fouad1995, thanks for reporting. We haven't really tested ZED 2 camera, did you update the ImuParams.yaml, Left/RightCameraParams.yaml? I would suggest using [Kalibr](https://github.com/ethz-asl/kalibr) to get these right.
Can you provide your sensor .yaml files perhaps?
@omarosamahu we have changed extensively the API for Kimera-VIO so the above does not necessarily apply anymore. In particular, now we parse our own ImuParams.yaml file inside the params folder...
Oh thanks @berndpfrommer ! Kimera-VIO uses gtests, but Kimera-VIO-ROS does not have a test suite (yet). There are two ways to run the tests: - Easiest, server: just push your...