GETTING ERROR IN CREATING MAP USING RTABMAP

[vinit payal]

How can i change the detection rate in RTABMAP as it shows error that your database's input rate is higher then detection rate of RTABMAP .

Following are screenshots of warning messages

[matlabbe]

Hi,

It is difficult to see on the small screenshots, but I assume they are these warnings:

1)Incompatible frame rates!
"Source/Input rate" (10 Hz) is higher than "RTAB-Map/Detection rate" (1 Hz). As the source input is a directory of images/video/database, some images may be skipped by the detector. You may want to increase the "RTAB-Map/Detection rate" over the "Source/Input rate" to guaranty that all images are processed. Would you want to start the detection anyway?

2)Some images may be skipped!
"RTAB-Map/Images buffer size" is not infinite (size=1). As the source input is a directory of images/video/database, some images may be skipped by the detector if the "Source/Input rate" (which is 10 Hz) is higher than the rate at which RTAB-Map can process the images. You may want to set the "RTAB-Map/Images buffer size" to 0 (infinite) to guaranty that all images are processed. Would you want to start the detection anyway?

They are not errors, they are just reminders that all images may not be all processed (useful when benchmarking loop closure detection and to not forget to process all images in a dataset). So, for the examples above:
- Safely ignore these warnings if the database contains effectively images recorded at a higher frame rate than "RTAB-Map/Detection rate". You don't want RTAB-Map to process all images in the database.
- However, if the database contains images recorded during a mapping session with "RTAB-Map/Detection rate" at 1 Hz (so the images in the databases are recorded at ~1 Hz), you may want to set "Source/Input rate" to 1 Hz and "RTAB-Map/Detection rate" to 0. You may also want to set "RTAB-Map/Images buffer size" to 0 so all images are processed even if the processing time is over the input rate.

See the multi-session tutorial for an example of settings depending at which rate the images were recorded in the database. We have choice of taking databases at two different "Source/Input rate" (1 Hz and 10 Hz) in this example:
"
There are two differences between the two ini files:
 * 1 Hz, ensure processing all images
  - Rtabmap\DetectionRate=0
  - Rtabmap\ImageBufferSize=0
 * 10 Hz, only process 1 of 10 images (detection rate still at 1 Hz)
  - Rtabmap\DetectionRate=1
  - Rtabmap\ImageBufferSize=1
"

Regards,
Mathieu

[vinit payal]

Thank You
But after doing this it only scans some part of database and after that it just stops to scan other part of data set .
Hence only half map will be generated .
can u plz guide how can i generate complete map.

[matlabbe]

I'll need more information... At what are your parameters set above:
- Source input rate?
- RTAB-Map Detection rate?
- RTAB-Map Images buffer size?
- RTAB-Map T_time?

And the database have images recorded at how many Hz? What is in the database?