SLAM Map Viewer
Drop a
.ply
or
.msg
on the window, or pick:
Point size:
Localize query image
Server must be running:
python3 loc_server.py
Checking server mode...
Open 7-floor map viewer
Load OpenSfM PLY (1 fps, 949k pts)
Upload query image (.jpg / .png / .heic):
Top-K candidates:
Localize across all floors
Drag = orbit · Scroll = zoom · Right-drag = pan
R
= reset ·
A
= axes ·
B
= toggle BIM ·
Q
= clear query
Drop a .ply or .msg file anywhere
(.msg files can be 100s of MB — loading may take a few seconds)
—
×
All 6 cubemap faces at this keyframe — matched face highlighted
U
L
F
R
B
D
Location label (e.g. "Library", "B-2F Hardware", "Gym")
Save
Clear