How can I verify that CUDA is being used for feature extraction (e.g., ORB) in RTAB-Map?

Posted by GGYU on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-can-I-verify-that-CUDA-is-being-used-for-feature-extraction-e-g-ORB-in-RTAB-Map-tp11081.html

Dear mathieu,

Hi,

I'm running RTAB-Map 0.21.9 with OpenCV 4.10.0 (built from source with `WITH_CUDA=ON` and `opencv_contrib` including `xfeatures2d`). I also enabled parameters like `FAST/Gpu`, `ORB/Gpu`, and set `Kp/DetectorStrategy=6` (ORB) through ROS 2 parameters.

When I run RTAB-Map (ROS 2 Humble), it works fine and launches correctly. However, I'm not sure if the GPU is actually being used for feature extraction such as ORB or FAST.

Here are some additional details:

- `rtabmap --version` confirms OpenCV 4.10.0 and that xfeatures2d and nonfree modules are enabled.
- I set `FAST/Gpu` to true in `Parameters.h`, and recompiled RTAB-Map.
- No explicit message in the console/logs confirms if CUDA is being used during runtime.
- I'm running on a Jetson Orin NX with CUDA 12.4 and cuDNN 9.8.
- `cv2.cuda.getCudaEnabledDeviceCount()` returns 1.

My question is:

**Is there a way to confirm from RTAB-Map logs or parameters that CUDA is being used for feature extraction (e.g., ORB/FAST)?**

Should I increase verbosity? Are there debug messages or parameter flags that explicitly confirm CUDA usage during feature extraction?

Thank you so much for your continued support, Mathieu.

Best regards
GGYU