Re: How many points does RTabMap capture per second?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-many-points-does-RTabMap-capture-per-second-tp1289p1292.html

Hi,

The map is updated by default each second (1 Hz), so it adds a new point cloud each second. At each update, a node with RGB + depth images is added to map. The actual number of points that will be shown is depending on the visualization parameters. For example, if we acquire 640x480 images, we will have a point cloud containing 307 200 points added to map each second. By default, we decimate the images by 4 or 8 before creating the point clouds to limit the number of points. With the kinect v2 and HD images, that is 1920*1080=2 073 600 points per second if the images are not decimated.

cheers