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ucla-vision / xivo

X Inertial-aided Visual Odometry
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Reusing map #51

Closed poudyalbot closed 2 years ago

poudyalbot commented 2 years ago

Res sir/mam Let say I build a map using using colmap or maplab or xivo and I want to reuse the map how to implement this in ekf based vio. Thank you

stephanietsuei commented 2 years ago

If you build a map using XIVO, you can save it to a .dot file for reference using the GraphWriter class. See here for an example.

poudyalbot commented 2 years ago

Thanks and if i want to localize in previously built map will it be possible using xivo.

stephanietsuei commented 2 years ago

That is not yet possible, but could be implemented in the future.

poudyalbot commented 2 years ago

Ok thanks for response looking forward.