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-tp10674p11122.html


Yes, that is possible. The intermediate nodes are added after synchronizing lidar and camera data, so at best they would be added at the sensor lowest rate.

You may try without point cloud assembler node to increase the rate at which sensors are sync in rtabmap node to 10 Hz.

I don't have however a workaround to be able to feed 1 Hz lidar data with 30 Hz camera data to rtabmap node and having more than 1 Hz camera data saved in the database. Well, maybe changing point cloud assembler to publish an empty cloud when it didn't assemble the full cloud yet, then you will get 10 Hz lidar data to sync on rtabmap node (only 1 of 10 scans would not be empty), thus 10 Hz camera data saved in the database.