If run with --temporal-mapping, loaded keyframes are prioritized for localization/localBA.
If erase_temporal_keyframes: true, it will remove keyframes older than num_temporal_keyframes.
If enable_temporal_keyframe_only_tracking: true, then tracking with only temporal keyframes will not be treated as Lost. If --temporal-mapping is not set, enable_temporal_keyframe_only_tracking will be ignored.
If none of the above is specified, the behavior remains the same.
Enabling all three of the above will run Visual SLAM with a limited number of keyframes
If you set --temporal-mapping and erase_temporal_keyframes: true, load the map, and run it, you will get similar results to --disable-mapping, but the localization will be more stable.
--temporal-mapping, loaded keyframes are prioritized for localization/localBA.erase_temporal_keyframes: true, it will remove keyframes older thannum_temporal_keyframes.enable_temporal_keyframe_only_tracking: true, then tracking with only temporal keyframes will not be treated as Lost. If--temporal-mappingis not set,enable_temporal_keyframe_only_trackingwill be ignored.--temporal-mappinganderase_temporal_keyframes: true, load the map, and run it, you will get similar results to--disable-mapping, but the localization will be more stable.