Re: Exporting images at a higher frequency than rtabmap slam frequency?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Exporting-images-at-a-higher-frequency-than-rtabmap-slam-frequency-tp10674p10692.html

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).