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MIT-SPARK / Kimera-VIO

Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.
BSD 2-Clause "Simplified" License
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question for plane detection and mesher outputs for backend #206

Closed xingyi5166 closed 10 months ago

xingyi5166 commented 1 year ago

Hi, I have two questions about the Mesher module that I want to confirm.

1, I did not see you call the plane detection related functions in the Mesher module although you put some related functions in the code. Is that correct?

2, I did not see you pass any outputs (from the Mesher) back to the backend (pose optimization & loop closure) for further optimization. Is that correct?

Thank you so much for your time! I really appreciate it.

marcusabate commented 10 months ago

Both of these are correct at this time. For joint pose-mesh optimization, we use Kimera-PGMO (located here).