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PeterFWS / Structure-PLP-SLAM

[ICRA'23] The official Implementation of "Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo Cameras"
GNU General Public License v3.0
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How to turn off global BA and loop closure detection #19

Closed C-H-Chien closed 8 months ago

C-H-Chien commented 8 months ago

Hi, I would like to evaluate your amazing work in a visual odometry mode by turning off the global bundle adjustment and the loop closure detection. The modules of BA, loop closure detection, etc are tightly coupled in the pipeline, so I wonder how this can be achieved in order to leave only the tracking module. Thank you!

PeterFWS commented 8 months ago

Hi Chien,

you should be able to turn off the loop detection as indicated in the Pangolin GUI,

image

or you can navigate to the code: -> Structure-PLP-SLAM/src/pangolin_viewer/viewer.cc change the code #58: loop_detectionmode(system->loop_detector_is_enabled()) make the loop detection un-enabled.

In this way, the global BA is turned off, and no loop closure.

Best,

C-H-Chien commented 8 months ago

Hi @PeterFWS ! Thank you so much for your information. Glad to know that this is a simple step!