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Is global 3D mesh (covering the entire trajectory) enabled? #46
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Hi @jguan2984-1! The global 3D Mesh is built using this package: https://github.com/MIT-SPARK/Kimera-Semantics |
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They actually are!
Sorry for the confusion, we plan to document everything thoroughly but it takes a bit of time. |
Thanks for the quick reply, a document and "pushing a launch file in kimera-semantics to run everything in Euroc dataset to show how to connect with VIO." would help a lot. |
Hi, I changed the launch file for kimera semantic, but it is still not ok. I suppose I still need to change something in the launch file, but don't know how? |
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 for Kimera-Semantics. Inside Kimera-Semantics launch file, there is a way to generate dense depth maps by calling a ROS package that implements StereoBM. |
What else I should change except changing sensor frame to |
<arg name="run_stereo_dense" default="false"/> See here.
<!-- If you just want to run 3D reconstruction without semantics, set this flag to false-->
<arg name="metric_semantic_reconstruction" default="true"/> See here. |
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Yes, so basically, summarizing, all the |
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I'll put it in my todo list, I think another user also asked the same. Thank you! |
ok, thanks.. |
ETA Saturday afternoon though, I'm a bit busy with other urgent things 👍 |
Saturday afternoon will be great, it would be much better with also updated rviz file. |
Hi, |
I find there exists the launch file called |
@jguan2984-1 when run the |
hi there, i am also facing to the same problem. I run |
I can see the single frame mesh in the riz, is the global 3D mesh implemented in this project? if so. how could I enable it and visulize it? Thanks
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