How to integrate ICE-BA with other frontends

Dear @wangjio @liuhaomin @mingyux,

I am trying to integrate ICE-BA backend with a different Frontend framework (vilib frontend by RPG lab in Zurich).

The vilib framework offers the featured detection and tracking part of a 2D-to-2D VIO approach.

My question is what are the steps to integrate such a frontend with your backend? More precisely, if I have computed the feature detection and feature tracking already, how can I integrate these with you backend.

It seems in the example you furnished, it only shows how you use your frontend in order to detect features and then create the .dat files. But I already have the features.

Any direction to point me in the right way would be much appreciated :)

Start by reading the furnished example that detects features and creates the .dat files, then compare its frontend-to-backend handoff with the feature detection and tracking output from the vilib frontend. Done would require a clear, tested integration path or documentation explaining how an external frontend can supply its computed features to ICE-BA.

Written by the indexing model from the issue text.