Is there a way to visualize multi-frame meshes mentioned in the paper?

MIT-SPARK / Kimera-VIO

Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.

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Is there a way to visualize multi-frame meshes mentioned in the paper? #213

Open gsanya opened 1 year ago

gsanya commented 1 year ago

The paper mentions Per-frame and multi-frame meshes but I could only visualize per-frame meshes in rviz. I played with the horizon and the size of the point cloud changed but the mesh always stays a per-frame mesh and I can't find any option to extend it to the full horizon.