This system cannnot save pose like Vins-Mono?

TixiaoShan / LVI-SAM

LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping

https://youtu.be/8CTl07D6Ibc

BSD 3-Clause "New" or "Revised" License

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This system cannnot save pose like Vins-Mono? #23

Closed AFS-Suematsu closed 3 years ago

AFS-Suematsu commented 3 years ago

Vins-Mono can save pose graph and reuse pose graph for relocalization. Can LVI-SAM save pose graph?

gisbi-kim commented 3 years ago

@AFS-Suematsu I think you may be interested in the pose saver within SC-LIO-SAM and the relocalization of LT-mapper that takes the pose graph saved from the SC-LIO-SAM.

hellopopyee commented 3 years ago

I wrote a code to solve this problem, just imitate the output code of vins, and contact me if necessary.

AFS-Suematsu commented 3 years ago

Thank you I'm going to try using SC-LIO-SAM.