Re: Test rtabmap RGBD mapping using TUM RGBD database

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Test-rtabmap-RGBD-mapping-using-TUM-RGBD-database-tp1095p1114.html


Hi,

rtabmap node will process odometry poses up to "Rtabmap/DetectionRate" parameter:

<node name="rtabmap" type="rtabmap" pkg="rtabmap_ros">
...
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
</node>

So by default, it will add a node to its graph at 1 Hz. You could increase the detection rate to 2 for example, you will get 2x poses. However, increasing the detection rate will increase computation time more faster (the map will be 2x bigger for example).

On the standalone, we can set the parameter "Rtabmap/CreateIntermediateNodes" for convenience, which will create empty nodes in RTAB-Map's graph (without increasing computation time) for all odometry poses not used. Unfortunately, this option is not yet officially available for ROS (but it will be very soon on version 0.11).

cheers