How to run Kimera-semantics with semantic labels using kimera_semantics_demo.bag with Kimera-VIO-ROS?

MIT-SPARK / Kimera-Semantics

Real-Time 3D Semantic Reconstruction from 2D data

BSD 2-Clause "Simplified" License

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How to run Kimera-semantics with semantic labels using kimera_semantics_demo.bag with Kimera-VIO-ROS? #76

Closed aswingururaj closed 2 years ago

aswingururaj commented 2 years ago

Hi, I can run kimera-semantics with kimera_semantics_demo.bag(with semantics) and run Euroc dataset with dense stereo reconstruction(without semantics). I want to run them together to test the entire pipeline with Kimera-VIO-ROS giving the odometry estimates, Kimera semantics taking in the semantic point cloud to generate 3D metric-semantic reconstruction. Can anyone help me out on how I should set up Kimera to get the entire pipeline running?

Thanks!

dongho-Han commented 1 year ago

Hello, @aswingururaj . I'm trying to run kimera-semantics with kimera-VIO, but I have hard time running the entire pipeline in NVIDIA-docker(cudagl) system(ubuntu: 18.04, ROS: melodic). Can you share the way you solved? Thanks!

aswingururaj commented 1 year ago

Hi @dongho-Han! I didn't run the pipeline using the docker environment. I followed the installation and usage instructions under README to set up the pipeline. I am not sure what your error is. But if I remember correctly, I made a mistake while remapping the ROS topics, which is why I faced this issue. Once I corrected it, I was able to get the expected results.