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rpng / open_vins

An open source platform for visual-inertial navigation research.
https://docs.openvins.com
GNU General Public License v3.0
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Slam update #266

Closed poudyalbot closed 1 year ago

poudyalbot commented 1 year ago

Res sir/mam, Is it possible to do only visual inertial slam without msckf update or is the msckf update and slam update dependent on each other. Thank you

goldbattle commented 1 year ago

Set max_slam to zero if you don't want SLAM features. Set max_msckf_in_update to zero if you don't want MSCKF features. Hope this helps.

https://github.com/rpng/open_vins/blob/98873b75be45cee6563bf407e00013bbec01c455/config/euroc_mav/estimator_config.yaml#L16-L20

poudyalbot commented 1 year ago

Thank you very much.

On Wed, Aug 3, 2022, 6:53 AM Patrick Geneva @.***> wrote:

Set max_slam to zero if you don't want SLAM features. Set max_msckf_in_update to zero if you don't want MSCKF features. Hope this helps.

https://github.com/rpng/open_vins/blob/98873b75be45cee6563bf407e00013bbec01c455/config/euroc_mav/estimator_config.yaml#L16-L20

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