Slam update

[poudyalbot]

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]

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.

open_vins/config/euroc_mav/estimator_config.yaml

Lines 16 to 20 in 98873b7

	max_clones: 11 # how many clones in the sliding window
	max_slam: 50 # number of features in our state vector
	max_slam_in_update: 25 # update can be split into sequential updates of batches, how many in a batch
	max_msckf_in_update: 40 # how many MSCKF features to use in the update
	dt_slam_delay: 1 # delay before initializing (helps with stability from bad initialization...)

[poudyalbot]

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 — Reply to this email directly, view it on GitHub <#266 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AFIRO5ZUS74AR6H4VW6CAZ3VXHC2NANCNFSM55LITIYA> . You are receiving this because you authored the thread.Message ID: ***@***.***>