how to debug RTAB-Map

Posted by yanmingz on
URL: http://official-rtab-map-forum.206.s1.nabble.com/how-to-debug-RTAB-Map-tp1039.html

Hi Mathieu,

I deeply appreciate  your help before.

Now I meet some problems when debugging.

I have a long image sequence, for example 2000 frames and the algorithms failed at the 1000th frame. Unfortunately the problem is also related to the 100th frame. So I have to replay the sequence whenever I want to repeat the problem. It may take a long time. Since the algorithm is multi-thread, I can't get the same scenario each time.

So I want to know
1. How can I ensure each time the input is the exactly the same? There was a single-thread version of RTAB-Map before. Does it still work nowadays?
2. Is there a tool to record all the variables when a new frame come in?, Just like in Matlab, you can save the whole environment. With this tool, I can load the saved environment and start from 1000th frame directly. Can the database saved in the process work for this purpose?

Thanks a lot.
Yanming