Question about Using GT Pose for Mapping Only

[KuangHaofei]

Hi authors,

Thanks for your great work!

I am working with Khronos, but I only need the mapping functionality instead of the full SLAM pipeline.
Since the algorithm is a SLAM system, I would like to use GT pose and disable loop closure and back-end optimization in my scenarios.

So, I have two questions:

• Can I achieve this by simply setting use_gt_frame to true in the launch file?
• Do I need to modify any additional parameters in the config files to fully disable loop closure and optimization?

Any guidance would be greatly appreciated.
Thank you!

[Schmluk]

Hi @KuangHaofei ,

Thanks for reaching out and for your interest!

• Yes, setting use_gt_frame to true will use the ground truth poses provided from the simulator (or other inputs), and will fix the poses in the optimization. Optimization will still run since we use the robust optimizer to associate changed object fragments.
• There shouldn't be other changes needed. You can disable optimization completely, but then you will also have to use another form of object fragment association (e.g., based on semantic label and proximity/overlap since there are GT poses). This is currently not implemented by us but should not be that hard to do.

Hope this helps!