3D reconstruction (without semantics) using Intel Realsense D435i is not working

[mit-spark]

3D reconstruction (without semantics) using Intel Realsense D435i is not working

[mbed92]

Same here. The error "Asking for data before start of IMU stream" happens always when the align_depth:=true flag is set.

[moksh-401-511]

I also faced same issue.
I stored the data in a bag file and run the bag file at rate=0.1 . This worked for me.
I was able to generate unlabelled mesh. But failed to get labelled/semantics mesh

[CCCC-user]

hello,I have the same problem. Have you solved it?

[prmehta24]

@moksh-401-511 I am trying to do 3D reconstruction(no semantics) with an intel realsense d435i bagfile.

I am doing the following steps:

1. roscore.
2. rviz -d $(rospack find kimera_semantics_ros)/rviz/kimera_realsense_metric.rviz
3. roslaunch kimera_semantics_ros kimera_metric_realsense.launch play_bag:=true (I replaced the kimera_semantics_demo.bag with my bag. metric_semantic_reconstruction is default set to false. should_use_sim_time is set to true.)

However, I can not see the mesh reconstruction and have an error global status error - fixed frame - unknown frame world

Do you have an idea of how to solve this issue and view the 3D reconstruction?

[moksh-401-511]

@moksh-401-511 I am trying to do 3D reconstruction(no semantics) with an intel realsense d435i bagfile.

I am doing the following steps:

1. roscore.
2. rviz -d $(rospack find kimera_semantics_ros)/rviz/kimera_realsense_metric.rviz
3. roslaunch kimera_semantics_ros kimera_metric_realsense.launch play_bag:=true (I replaced the kimera_semantics_demo.bag with my bag. metric_semantic_reconstruction is default set to false. should_use_sim_time is set to true.)

However, I can not see the mesh reconstruction and have an error global status error - fixed frame - unknown frame world

Do you have an idea of how to solve this issue and view the 3D reconstruction?

Can you do rosbag info of your bag file and share the screenshot?

[prmehta24]

@moksh-401-511 I am trying to do 3D reconstruction(no semantics) with an intel realsense d435i bagfile.
I am doing the following steps:

1. roscore.
2. rviz -d $(rospack find kimera_semantics_ros)/rviz/kimera_realsense_metric.rviz
3. roslaunch kimera_semantics_ros kimera_metric_realsense.launch play_bag:=true (I replaced the kimera_semantics_demo.bag with my bag. metric_semantic_reconstruction is default set to false. should_use_sim_time is set to true.)

However, I can not see the mesh reconstruction and have an error global status error - fixed frame - unknown frame world
Do you have an idea of how to solve this issue and view the 3D reconstruction?

Can you do rosbag info of your bag file and share the screenshot?

Sure, here it is.

[moksh-401-511]

@prmehta24
As you know, to generate mesh, Kimera-semantics needs to know where your camera is w.r.t. world frame. So, you need to run kimera-vio-ros as mentioned here to track your camera position in a world frame. It will require the IMU data of d435i.

If you're using bag file then you might need to launch this file. Setup the sensor-frame and other necessary parameters. Then give it a try.