ROS rtabmap performance and GPU support config

[RyanXC]

Hi,

Rtabmap running on my system is not smooth as the video showing on the rtabmap website. Is there any configuration I should look into?

And the other question, is it possible to run rtabmap without Nvidia or ATI GPU support?
How to turn on/off GPU support when running rtabmap with ROS?

Thanks,
Ryan

[matlabbe]

Hi,

GPU is used only for visualization (rtabmap and rgbd_odometry nodes don't use GPU). In rtabmapviz, you can go in Preferences->3D Rendering and uncheck 3D map shown (or increase decimation value to reduce the number of points). In RVIZ with rtabmap_ros/MapCloud display, you can also increase decimation to reduce the number of points shown.

cheers,
Mathieu

[simon.xm.lee]

Hi Mathieu,

    What you mean is that the map images combination in rtabmap use CPU instead of GPU. Am I right?

Regards.  

[matlabbe]

Yes you are