Toni Rosinol

Hi @fatrybl! Thank you for your comments. Sorry I was busy with conferences and deadlines, I’ll try to fix that issue this weekend and update the documentation. Thanks!

Hi @jguan2984-1! The global 3D Mesh is built using this package: https://github.com/MIT-SPARK/Kimera-Semantics

They actually are! The launch file provided in Kimera-Semantics can be used for both simulation and kimera-VIO. Check the comments in the [launch file](https://github.com/MIT-SPARK/Kimera-Semantics/blob/master/kimera_semantics_ros/launch/kimera_semantics.launch) itself: ``` ``` Sorry for the...

Hi @jguan2984-1, we don't use the per-frame 3D Mesh to generate the global 3D Mesh, instead, a dense stereo depth pipeline runs in parallel, providing accurate dense (pixel-wise) depth maps...

1. Oh, so, you need to explicitly tell kimera_semantics to run StereoBM: The default is set to false: ```xml ``` See [here](https://github.com/MIT-SPARK/Kimera-Semantics/blob/484215d7e68afd05319a91c0766cb4fa6ee7455e/kimera_semantics_ros/launch/kimera_semantics.launch#L31). 2. And last thing, if you don't have...

Yes, so basically, summarizing, all the `arg` elements in the launch file(s) need to be adapted to your particular use case and also **all the topic names** (aka the ones...

I'll put it in my todo list, I think another user also asked the same. Thank you!

ETA Saturday afternoon though, I'm a bit busy with other urgent things :+1:

Are you using a rosbag? If you are, then make sure you set the clock flag: `rosbag play ... --clock` If you aren't, then make sure you disable sim_time in...

> If there is a lot of interest in this, I can add a more detailed guide for transferring the results of the Kalibr calibration into the Kimera parameters. Would...