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thien94 / orb_slam3_ros_wrapper

A ROS wrapper for ORB-SLAM3. Focus on portability and flexibility.
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How to suppress pangolin and openCV image window output #23

Closed Mechazo11 closed 1 year ago

Mechazo11 commented 1 year ago

Hi,

Thank you very much for packaging the ORB-SLAM3 code within the ROS ecosystem supporting ROS Noetic.

I am using ORB-SLAM3 as the base code for a project that I am working on.

Which file(s) do I change so that I can suppress the pangolin output and opencv image window? At present, I am not interested in seeing visuals just the output of various states that I push to the console

thien94 commented 1 year ago

HI @Mechazo11 , thank you for your interest in this project.

You can define the following parameter in the launch file to deactivate the Viewer (Pangolin-related only) <param name="enable_pangolin" type="bool" value="false"/>

Mechazo11 commented 1 year ago

@thien94 Thank you for the quick feedback. I will try out your suggestion and get back to you by tomorrow before I close this thread

Mechazo11 commented 1 year ago

Hi @thien94, your suggestion worked. Sorry for the late response. I noticed that while suppressing the pangolin window, the parameter is also suppressing the OpenCV window which shows the detected keypoints in green. Can u direct me to the file where the logic to show and suppress pangolin (and Opencv output) is written?