Is there a way to disable monovslam frame skipping?

I need to extract poses from each frame in a set of images I'm running visual slam on in real time. It seems that monovslam automatically skipps frames when there's too much overlap with previously viewed images. 'SkipMaxFrames'can be set to a minimum of 1. Is there a way to disable this complelety?

Answer 1

[Mahdi]

Hello Coleman,

Setting SkipMaxFrames=1 will provide you with most of the poses after the initialization is successful (you can verify this by checking the output IDs of poses(vslam)). However, we can't guarantee that you will receive a pose for each image because some of them are discarded in the background. This is because, as you noted, they don't contain significant changes in POV. This was done to achieve the real-time performance of monovslam.

What's your use case here? Maybe we can suggest a different solution.

Thanks,

-Mahdi