Pure localization in the voxblox map created by Kimera-Semantics

[madhu-korada]

I am able to generate a 3d semantic mesh (.ply) file using Realsense using Kimera VIO and Kimera Semantics. I am not sure if this issue belongs here, but I have few questions.

I am not sure how can I do only localization in the map that I created. Currently everytime I run the kimera pipeline it generates the map from scratch, is there a way I can use the map that I have already built (like only localization mode in RTAB-Map)?
Is there any way I can extract local map while localization? Per frame mesh from Kimera-Mesher is present but it doesn't seem accurate enough.
Any help or suggestions would be helpful. Thanks in advance.

This is a duplicate of an issue I created few days back.