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tum-vision / lsd_slam

LSD-SLAM
GNU General Public License v3.0
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Any easy way to turn of the mapping and loop closing? #327

Open Adriabs opened 5 years ago

Adriabs commented 5 years ago

I want to use this as my odometry for a student project, and would love it if anyone knows of an easy way to disable the backend of LSD-SLAM so I only get relative poses between frames or several frames.

bespoke-code commented 5 years ago

@Adriabs , you can use rqt_reconfigure to turn off mapping in the LSD-SLAM core, or you could hard-code the value: doMapping=false in lsd_slam_core/src/util/settings.cpp, line 95.

To get real-time position estimation, check the liveframes topic published by the LSD-SLAM core.

I hope this helps!