Exporting images at a higher frequency than rtabmap slam frequency?

[dinossht]

I am using ICP SLAM for mapping purposes, and using only RGB images for coloring purposes offline. Currently it seems like the images are added every 1 Hz (same as rtabmap detection rate). Can I add images more frequently without needing to run SLAM at a higher rate?

[matlabbe]

You may try setting Rtabmap/CreateIntermediateNodes=true with Mem/IntermediateNodeDataKept=true.

[dinossht]

This does not seem to add more images to the databases than the number of nodes existing. What functionality is changed by setting these parameters you are referring to?

[matlabbe]

Hi,

To make sure to not miss anything:

Rtabmap/CreateIntermediateNodes=true
Mem/IntermediateNodeDataKept=true
Mem/NotLinkedNodesKept=true
RGBD/LinearUpdate=0.0

There should be nodes in the graph with weight  = -1 when it works. Note that nodes are added at the rate of the lowest topic frequency. If you receive lidar at 1 Hz and images are published at 30 Hz, nodes at 1 Hz will be added. However, if lidar is published at 10 Hz, then you will get 10 Hz camera images in the database instead of 1 Hz (if Rtabmap/DetectionRate is 1).

[dinossht]

Thank you Mathieu! This is what I needed:)