how to launch only visual odometry without IMU?

[ergys00]

hi there how can i launch only the visual odometry basalt reather than the visual inertial odometry one that is launched by the vio.launch file?

[berndpfrommer]

This is currently not possible. You can try hacking it by changing the last argument here to "false". No idea if it'll work.

// create VIO object
  vio_ = basalt::VioEstimatorFactory::getVioEstimator(
      config, calib, basalt::constants::g, true);