rtabmap_slam with multi cores

[dinossht]

Does rtabmap_slam use multiple cores? For instance with icp_matching using point cloud data etc?

[matlabbe]

For ICP, you can look in libpointmatcher repo, it seems if it is built with OpenMP or OpenCL, there are some parallel optimizations that can be done.

[dinossht]

What about graph optimization, is that parellellized? Should I look into g2o or gtsam for that?

[matlabbe]

Yeah, for graph optimization, if you find some parallelization options with g2o or GTSAM, let me know!

[dinossht]

Yes, I'll let you know!