Re: RTABMAP closes with error when mapping for long durations

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-closes-with-error-when-mapping-for-long-durations-tp150p160.html

When the thresholds "Rtabmap/TimeThr" and "Rtabmap/MemoryThr" are not set, nothing is saved to Long-Term Memory (database) until the node is closed. See Section III-F Transfer of the related paper for a description of the "Rtabmap/TimeThr" parameter, referred as T_time in the paper. The "Rtabmap/MemoryThr" parameter is provided for convenience, it has the same effect than T_time, though explicitly fixing the maximum Working Memory size independently of the computing resources.

More practically, I prefer use the Time Threshold (ms). If the time threshold is set to 700 ms and the detection rate is set to 1 Hz, you would have ~70% CPU usage on large environments and stable RAM memory usage. For example:

<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>

Here some notes about your launch file:

• "DbSqlite3/CacheSize" doesn't need to be set. See this page for more info.
• "Rtabmap/DetectionRate" is set to 3 Hz, I usually use 1 Hz.
• "Kp/RoiRatios" should not be set unless you want to ignore the some part of the image from features extraction (here you ignore 30% of the bottom image).
• "RGBD/ScanMatchingSize" is now known as "RGBD/PoseScanMatching"
• Parameters in your group "TT" are not used.

You can always see description of the parameters by doing:

$ rosrun rtabmap_ros rtabmap --params