how is this possible to reduce the number of landmarks in isaac ros vslam? are there parameters that can be adjusted to perform this?
my goal is to reduce the size of the map which is generated by vslam and make it more suitable for my application resources.
Hi @javadb1024
Thank you for your message.
The number of landmarks is automatically optimized from cvslam and is not an available parameter on Isaac Sim.
If you want just to debug the landmarks generated, there are two parameters:
https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_visual_slam/isaac_ros_visual_slam/index.html#api
| ROS Parameter | Type | Default | Description |
|---|---|---|---|
| Debug/Visualization Parameters | |||
enable_landmarks_view |
bool |
false |
If enabled, landmark pointcloud will be available for visualization. |
path_max_size |
int |
1024 |
The maximum size of the buffer for pose trail visualization. |
Best,
Raffaello