How to load a vxblx file into voxl-mapper

[iparra]

Hi,
we are trying to load map a .vxblx tsdf map generated with voxblox into the drone. We have assumed that the vxblx is the tsdf file that the voxl-mapper generates and have transformed the vxblx file to esdf with the test tool tsdf_to_esdf from voxblox project. Unfortunately it seems that the .vxblx is not accepted by voxl-mapper. Apparently they are not the same format. Is there a way to load a voxblox .vxblx tsdf map into voxl-mapper? Are we missing something?

Another workaround would be to reproduce a bag directly into voxl-mapper and let it create the map files. We have found voxl-mpa-to-ros, is there an equivalent voxl-ros-to-mpa?

Thank you in advance

[Moderator]

@iparra We have not done either of those things. The code is open so you can modify to support vxblx. We are happy to incorporate any merge request for future support

[iparra]

@Moderator Hi, do you know where can I get a description of the tsdf file format that the voxl-mapper uses?