Toni Rosinol

@nawara72 I'm not sure what this can be, but worst case, since the current implementation accepts multiple ANMS (non-max suppression) algorithms, and all erros seem to come from ranget.h (or...

Hi @nawara72, I wish I could help with this, but I haven't really tried to build kimera-vio on Windows (only MacOS, Ubuntu16.04 and Ubuntu18.04 are well tested). Nevertheless, I see...

Hi @guoxiaoyang12 , The regularity factors are only added if you use the RegularBackend (see https://github.mit.edu/SPARK/Kimera-VIO/blob/master/params/Euroc/PipelineParams.yaml) And if you set the backend modality (in https://github.mit.edu/SPARK/Kimera-VIO/blob/master/params/Euroc/BackendParams.yaml) to number 4. Technically speaking,...

Hi @CaoYuchen, You can save the whole 3D mesh by calling the `generate_mesh` rosservice: ```bash rosservice call /kimera_semantics_node/generate_mesh ``` This will save a `.ply` file in the [mesh_results](https://github.com/MIT-SPARK/Kimera-Semantics/tree/master/kimera_semantics_ros/mesh_results) folder. The...

Should be easy to add support for `bgra8`. I'll try to add it, together with #27

Hi @FaboNo, the error isn't really about getting a 0, right? It is about the `baseline_` being negative (`-0.0502485`). The breaking check is the one in line 72 of `StereoCamera.cpp`....

Hi @julienip, The pose is inferred from the TF tree in ROS (it will look for the tfs you mentioned above, `left_cam` or `left_cam_base_link` depending on what you use). Nevertheless,...

Hi @zhaozhongch, can you check the [`params/Euroc/flags/stereoVIOEuroc.flags`](https://github.com/MIT-SPARK/Kimera-VIO/blob/master/params/Euroc/flags/stereoVIOEuroc.flags) file, there should be this param: ``` **# Type of 3D Visualization: # 0: mesh 3d # 1: pointcloud # 2: none --viz_type=1**...

Seems like I can see it either in the current master, thank you for raising the issue! I'll try to look at it tomorrow, in the meantime, please use a...

Thanks for the feedback! I'm on a tight schedule right now, but will give it a try tomorrow :+1: