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xdspacelab / openvslam

OpenVSLAM: A Versatile Visual SLAM Framework
https://openvslam.readthedocs.io/
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How to only save the new keypoints after run localization with mapping flag on? #481

Open asmaaelkeurti opened 3 years ago

asmaaelkeurti commented 3 years ago

In one of my project, i saved map. Run localization with mapping couple times. I noticed the map msg file gets bigger.

I was wondering what would be the best way to save the new keypoints and keyframe and drop the old ones.

i am pretty familiar with the source code. Just need some one point me the right direction.

joavd commented 3 years ago

I noticed the map msg file gets bigger.

How much bigger does it get? If it's a few kilobytes or megabites it's the usual behaviour. Localization with the mapping flag turned on should pick up roughly the same keypoints as run_video_slam without much difference, and it re-writes the keypoints over the previous ones. It should not duplicate the data. Also, consider using Spectrum's OpenVSLAM community.

asmaaelkeurti commented 3 years ago

The real world environment keeps changing everyday. I ran run_camera_slam. The live stereo camera. Not the same video over and over again. What i noticed is that mapping module keeps getting the new landmark, but didn't remove the old landmark not observable. I think that's why the map file gets bigger. Is there a way to remove the old landmark that not observed?