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-tp10674p11154.html

There could be another way actually, by enabling circular_buffer parameter:

~circular_buffer (bool, default: "false")

    Instead of accumulating all the clouds before publishing the assembled cloud, the input clouds are kept in a circular buffer (of size max_clouds or a assembling_time) and the assebmled cloud is published every time a new scan is received. When circular_buffer is false, the temporary buffer to accumulate the clouds is cleared after each publishing.