Toni Rosinol

We actually tried to handle the equidistant model in the frontend side of things but it was never extensively tested...

@omarosamahu thanks! I was trying to see what we could merge to master to make Kimera able to run on Windows, but it seems like there is a lot of...

Here is the problem: ``` F0602 14:16:07.024188 8222 EurocDataProvider.cpp:201] Cannot open file: PATH_TO_DATASET/V1_01_easy/mav0/imu0/data.csv *** Check failure stack trace: *** ``` Make sure you specify the correct path to the euroc...

Checking the norm is not enough, but I'll add a warning if the baseline is not along x axis after rectification. Mind that this baseline is after stereoRectification so it...

Hi @kdr193, Alpha is what controls the number of loop closures detected, try to increase it, as it is now low: `alpha: 0.001` Check in [here](https://github.com/MIT-SPARK/Kimera-VIO/blob/master/params/Euroc/LcdParams.yaml).

Hi @Kecheng-Chen, Thanks for raising the issue. Which gtsam commit are you using?

Interesting, Kimera-VIO should not be able to compile with this commit, can you try with: `0c3e05f375c03c5ff5218e708db416b38f4113c8` Thanks!

Warnings should be fine! Especially the timing ones, I just find them useful to check that modules are working.

Hi @Timbama, looks nice! Kimera-VIO itself is running a fixed-lag smoothing backend, so there should be no scalability issue for pose estimation. Pose-graph optimization might be a bit more tricky,...

So relating to this issue, and as I was implying in https://github.com/ros-planning/navigation2/issues/1461, exporting the global 3D Mesh is already possible via Kimera-Semantics by using Voxblox API: just call the rosservice...