Odometry Only Output

[risqiutama]

Is it possible to run your code with odometry function only (without full SLAM system, e.g. by disabling loop-closure)?

[BertaBescos]

Hi @risqiutama ! The simplest way to run the system without loop closure optimization would be to comment the call to CorrectLoop() function in LoopClosing::Run().

if(ComputeSim3())
{
         // Perform loop fusion and pose graph optimization
         // CorrectLoop();
}

In this way, the algorithm to detect the loop closures will be run but the pose graph optimization will not be performed. You could also not initialize the Loop Closing thread, but this would lead to more modifications in the code.